CN107920190B - The acquisition device of crops multispectral image applied to agricultural robot - Google Patents
The acquisition device of crops multispectral image applied to agricultural robot Download PDFInfo
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- CN107920190B CN107920190B CN201711019016.7A CN201711019016A CN107920190B CN 107920190 B CN107920190 B CN 107920190B CN 201711019016 A CN201711019016 A CN 201711019016A CN 107920190 B CN107920190 B CN 107920190B
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- 230000003287 optical effect Effects 0.000 claims abstract description 155
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 44
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 21
- 239000010959 steel Substances 0.000 claims description 21
- 230000000694 effects Effects 0.000 claims description 5
- 230000013011 mating Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 2
- 238000001228 spectrum Methods 0.000 abstract description 10
- 230000000007 visual effect Effects 0.000 abstract description 4
- 241000196324 Embryophyta Species 0.000 description 4
- 235000013399 edible fruits Nutrition 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Studio Devices (AREA)
- Blocking Light For Cameras (AREA)
Abstract
The present invention provides a kind of acquisition device of crops multispectral image applied to agricultural robot, comprising: pedestal, video camera, optical filter switching part, limiting component and preset quantity optical filter；Pedestal is fixedly connected with video camera, the optical filter of preset quantity is fixed on optical filter switching part, optical filter switching part is connect with pedestal and optical filter switching part can be with respect to base motions, limiting component includes the first component and second component, the first component can be moved with respect to second component, and can be fixedly connected by second component retardation motion, the first component with optical filter switching part, second component is fixedly connected with pedestal, and optical filter is fixed on optical filter switching part；When using the acquisition device, switching is covered on the optical filter before the camera lens of video camera in real time as needed, the spectrum picture of multiple wave bands can be acquired under single visual field, complete presentation of the spectrum picture to target area for realizing multiple wave bands, is conducive to improve the accuracy to the acquisition of information of target area.
Description
Technical field
The present invention relates to technical field of machine vision, more particularly, to a kind of crops applied to agricultural robot
The acquisition device of multispectral image.
Background technique
With the development of China's agricultural automation, robot is more and more widely used in agricultural, wherein benefit
With machine vision technique, the important side applied in agricultural using the information and robot of robot collection crops
Face.
The complicated various and visible light wave range colour system of the cauline leaf fruit of crop is close under agricultural environment, accurately obtains to robot
Crop different tissues visual information creates a huge challenge.However due in plant different tissues in microstructure ingredient (carbon aquation
Close object, moisture and fiber etc.) otherness, the different parts such as stem, leaf, fruit of plant are special in the reflection of specific non-visible light wave band
Property present notable difference.Therefore according to the different reflection characteristics of stem of plant leaf fruit, the image of its specific band of precise acquisition, favorably
Interfered caused by veiling glare in removing, and merge the spectrum picture of different-waveband, be conducive to improve robot to stem of plant, leaf,
The identification accuracy of the different parts such as fruit.
Currently, mainly acquiring crops visible light all band by video camera using the information that crops are collected by robot
Or the image of single wave band, and by carrying out intelligent processing to the spectrum picture of acquisition, information required for obtaining exists
Light disturbance or the limited problem of single band class information, influence the accuracy to the acquisition of information of target area.
Summary of the invention
In order to overcome the above problem or at least be partially solved the above problem, the present invention provides a kind of applied to agriculture machine
The acquisition device of the crops multispectral image of device people.
According to an aspect of the present invention, a kind of acquisition of crops multispectral image applied to agricultural robot is provided
Device, comprising: pedestal, video camera, optical filter switching part, limiting component and preset quantity optical filter；Video camera and pedestal
It is fixedly connected, optical filter switching part is connect with pedestal and optical filter switching part can base motions, limiting component include relatively
The first component and second component, the first component can be moved with respect to second component, and second component can prevent the first component from moving, the
One component is fixedly connected with optical filter switching part, and second component is fixedly connected with pedestal, and optical filter is fixed on optical filter switching
Component；Optical filter switching part, the front for moving and be covered on optical filter the camera lens of video camera for controlling optical filter；Limit
Position component prevents the fortune of optical filter switching part for mobile in optical filter and when being covered on the front of camera lens of video camera
It is dynamic, and it remain stationary optical filter switching part.
Wherein, the optical filter switching part of the acquisition device of the crops multispectral image of agricultural robot should be applied to also
Including camera fixing piece；Video camera is fixedly connected by camera fixing piece with pedestal, and camera fixing piece is with right angle
L-type bars, one end of camera fixing piece is equipped with cylindrical type through-hole, and camera fixing piece passes through cylinder by the first screw
Type through-hole is fixedly connected with pedestal, and the other end of camera fixing piece is equipped with elongated through-holes, and camera fixing piece passes through second
Screw passes through elongated through-holes and is fixedly connected with video camera.
Wherein, optical filter switching part includes runner and runner shaft；Runner is in the form of annular discs, and the axis of runner is perpendicular to camera shooting
The camera lens of machine is uniformly provided with the through-hole of preset quantity on runner, and through-hole, for fixing optical filter, the centre of runner is also set
There is centre bore, the centre bore that runner shaft passes through runner is fixedly connected with runner coaxial line, and runner shaft is equipped with external screw thread, and pedestal is equipped with
Threaded hole, threaded hole are equipped with the internal screw thread matched with the external screw thread of runner shaft, and runner shaft passes through to rotate in and out threaded hole
Mode is connect with pedestal.
Wherein, optical filter is thin rounded flakes, and through-hole is circular hole.
Wherein, optical filter switching part further includes optical filter fixed ring；The diameter of optical filter is all the same, and through-hole is logical for step
Hole, the internal diameter of the close camera shooting generator terminal of through-hole are less than the diameter of optical filter, and the internal diameter of the separate camera shooting generator terminal of through-hole, which is greater than, to filter
The diameter of piece, through-hole is interior to be equipped with internal screw thread, and the internal screw thread in through-hole is located at the separate camera shooting generator terminal of through-hole；Optical filter fixed ring is
Annulus, the outer diameter of a circle of optical filter fixed ring and the internal diameter of separate camera shooting generator terminal of through-hole are identical, optical filter fixed ring it is interior
Diameter of a circle is less than the diameter of optical filter, and the excircle of optical filter fixed ring is equipped with the outer spiral shell matched with the internal screw thread of through-hole
Line, optical filter fixed ring screw into through-hole by the internal screw thread of through-hole and optical filter fixed ring, and optical filter is put into through-hole
Separate camera shooting generator terminal, and be fixed in through-hole by the close camera shooting generator terminal of optical filter fixed ring and through-hole.
Wherein, the first component includes rotational positioning wheel, and second component includes steel ball and spring；Rotational positioning wheel is in gear
Shape, the centre of rotational positioning wheel are equipped with centre bore, and runner shaft is same across the centre bore and rotational positioning wheel of rotational positioning wheel
Axis is fixedly connected, and the excircle of rotational positioning wheel is equipped with the groove of preset quantity；Pedestal includes cylindrical depression position, spiral shell
The bottom at cylindrical depression position is arranged in pit, and the axis at cylindrical depression position is overlapped with the axis of the threaded hole,
The side wall at cylindrical depression position is equipped with circular hole, and the axis of circular hole passes through the axis of rotational positioning wheel and is parallel to where runner
Plane, spring are placed in circular hole, and steel ball is placed on spring, and steel ball is embedded into the recessed of rotational positioning wheel under the elastic force effect of spring
In slot.
Wherein, the diameter of steel ball is greater than the diameter of circular hole, and the natural length of spring is greater than the depth of circular hole.
Wherein, circular hole is located at the lower section of rotational positioning wheel, and the axis of circular hole is along the vertical direction.
A kind of acquisition device of crops multispectral image applied to agricultural robot provided by the invention, comprising: bottom
Seat, video camera, optical filter switching part, limiting component and preset quantity optical filter；Pedestal is fixedly connected with video camera, is preset
The optical filter of quantity is fixed on optical filter switching part, and optical filter switching part is connect with pedestal and optical filter switching part can phase
To base motions, limiting component includes the first component and second component, and the first component can be moved with respect to second component, and second
Part can prevent the first component from moving, and the first component is fixedly connected with optical filter switching part, and second component is fixedly connected with pedestal,
Optical filter is fixed on optical filter switching part；Thus when using acquisition device acquisition spectrum picture, it can as needed in real time
Switching is covered on the optical filter before the camera lens of video camera, and the spectrum picture of multiple wave bands can be acquired under single visual field, realizes
Complete presentation of the spectrum picture of multiple wave bands to target area, is conducive to improve to the accurate of the acquisition of information of target area
Property.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the present invention or technical solution in the prior art
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is of the invention one
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the acquisition device according to the crops multispectral image applied to agricultural robot of the embodiment of the present invention
Front view；
Fig. 2 is the acquisition device according to the crops multispectral image applied to agricultural robot of the embodiment of the present invention
Side view；
Fig. 3 is the schematic diagram according to the limiting component of the embodiment of the present invention；
Fig. 4 is according to the connection relationship between the pedestal of the embodiment of the present invention, limiting component and optical filter switching part
Schematic diagram.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, is clearly and completely described the technical solution in the present invention, it is clear that described embodiment is a part of the invention
Embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making wound
Every other embodiment obtained under the premise of the property made labour, shall fall within the protection scope of the present invention.
In one embodiment of the invention, with reference to Fig. 1 and Fig. 2, a kind of crops applied to agricultural robot are provided
The acquisition device of multispectral image, comprising: the filter of pedestal 8, video camera 1, optical filter switching part, limiting component and preset quantity
Mating plate 4；Video camera 1 is fixedly connected with pedestal 8, and optical filter switching part is connect with pedestal 8 and optical filter switching part can be opposite
Pedestal 8 moves, and limiting component includes the first component and second component, and the first component can be moved with respect to second component, and second
Part can prevent the first component from moving, and the first component is fixedly connected with optical filter switching part, second component and the fixed company of pedestal 8
It connects, optical filter 4 is fixed on optical filter switching part；Optical filter switching part, for controlling the movement of optical filter 4 and by optical filter 4
It is covered on the front of the camera lens 2 of video camera；Limiting component, for camera lens 2 that is mobile in optical filter 4 and being covered on video camera
When front, the movement of optical filter switching part is prevented, and remain stationary optical filter switching part.
Specifically, Fig. 1 is the front view of the acquisition device of the crops multispectral image applied to agricultural robot, Fig. 2
For the side view of the acquisition device of the crops multispectral image applied to agricultural robot.This is applied to the agriculture of agricultural robot
The acquisition device of crop multispectral image includes pedestal 8, video camera 1, optical filter switching part, limiting component and preset quantity
Optical filter 4；Video camera 1 is fixedly connected with pedestal 8, and the value volume and range of product of optical filter 4 is according to demand when acquisition image to wave band
It chooses, several different types of optical filters can be chosen, respectively correspond several different wave bands；Optical filter switching part and pedestal 8
It connects and optical filter switching part can be moved with respect to pedestal 8, limiting component includes the first component and second component, and the first component can
Opposite second component moves, and second component can prevent the first component from moving, the first component and the fixed company of optical filter switching part
It connects, second component is fixedly connected with pedestal 8, and optical filter 4 is fixed on optical filter switching part, the controllable filter of optical filter switching part
Mating plate 4 moves and is covered on optical filter 4 front of the camera lens 2 of video camera, in any optical filter movement and is covered on camera shooting
When the front of the camera lens 2 of machine, limiting component prevents the movement of optical filter switching part, and optical filter is made to rest on the mirror of video camera
First 2 front, video camera 1 shoots spectrum picture through different types of optical filter, it is hereby achieved that the light of different-waveband
Spectrogram picture.
The present embodiment in the acquisition device by being arranged pedestal, video camera, optical filter switching part, limiting component and pre-
If the optical filter of quantity；When using acquisition device acquisition spectrum picture, it can switch in real time as needed and be covered on video camera
Camera lens before optical filter realize the light of multiple wave bands so as to acquire the spectrum picture of multiple wave bands under single visual field
Complete presentation of the spectrogram picture to target area, is conducive to improve the accuracy to the acquisition of information of target area.
Based on above embodiments, as shown in Fig. 2, should be applied to the acquisition dress of the crops multispectral image of agricultural robot
The optical filter switching part set further includes camera fixing piece 3；Video camera 1 connects by the way that camera fixing piece 3 and pedestal 8 are fixed
It connects, camera fixing piece 3 is to have rectangular L-type bars, and one end of camera fixing piece 3 is equipped with cylindrical type through-hole, camera shooting
Machine fixing piece 3 passes through cylindrical type through-hole by the first screw 11 and is fixedly connected with pedestal 8, and the other end of camera fixing piece 3 is set
There are elongated through-holes, camera fixing piece 3 passes through elongated through-holes by the second screw 12 and is fixedly connected with video camera 1.
Specifically, should be applied to the optical filter switching part of the acquisition device of the crops multispectral image of agricultural robot
It further include camera fixing piece 3；The settable vertical plane of pedestal 8, the vertical of pedestal 8 is fixed in one end of camera fixing piece 3
Face can be passed through the cylindrical type through-hole of 3 one end of camera fixing piece by the first screw 11, and be screwed on the vertical plane of pedestal 8
Threaded hole, which is realized, to be fixed；Video camera 1 is fixedly connected on the other end of camera fixing piece 3, and camera fixing piece 3 is with right angle
L-type bars, so that video camera 1 is in horizontality by the design of L-type, one end of the fixed video camera 1 of camera fixing piece 3
Equipped with elongated through-holes, can be realized video camera 1 and camera fixing piece 3 by the second screw 12 across elongated through-holes
It is fixedly connected, meanwhile, long stripes through hole facilitates video camera 1 to adjust position in the horizontal direction, to adapt to different focal length length
Camera lens, it is ensured that camera lens front end is bonded with optical filter.
Based on above embodiments, as depicted in figs. 1 and 2, optical filter switching part includes runner 6 and runner shaft 7；Runner 6
In the form of annular discs, the axis of runner 6 is uniformly provided with the through-hole of preset quantity on runner 6 perpendicular to the camera lens 2 of video camera, and through-hole is used
In fixed optical filter, the centre of runner 6 is additionally provided with centre bore, and runner shaft 7 is coaxial across the centre bore and runner 6 of runner 6
Line is fixedly connected, and runner shaft 7 is equipped with external screw thread, and pedestal 8 is equipped with threaded hole, and threaded hole is equipped with to match with the external screw thread of runner shaft 7
The internal screw thread of conjunction, runner shaft 7 in a manner of rotating in and out threaded hole with pedestal 8 being connect.
Specifically, optical filter switching part has the runner 6 of collar plate shape, the camera lens of the axis of runner 6 perpendicular to video camera
2, through-hole is uniformly provided on runner 6, and the quantity of through-hole is equal with the quantity of optical filter 4, and a through-hole is for fixing an optical filtering
There is centre bore in piece 4, the centre of runner 6, and the centre bore that runner shaft 7 passes through runner 6 is fixedly and coaxially connected with runner 6, make to turn
Wheel 6 rotates simultaneously with runner shaft 7, and runner shaft 7 is equipped with external screw thread, and pedestal 8 is equipped with threaded hole, and threaded hole is equipped with and runner shaft
The internal screw thread that 7 external screw thread matches, runner shaft 7 can be by rotating in and out threaded hole, to pass through the side for rotating in and out threaded hole
Formula is connect with pedestal 8, and runner shaft 7 rotates in threaded hole, and is driven runner 6 while being rotated.
Based on above embodiments, optical filter is thin rounded flakes, and through-hole is circular hole.
Specifically, the camera lens in order to cooperate camera, the preferably circular thin slice of optical filter is corresponding, filters for fixed
The through-hole of piece is circular hole.
Based on above embodiments, as depicted in figs. 1 and 2, optical filter switching part further includes optical filter fixed ring 5；It filters
The diameter of piece 4 is all the same, and through-hole is step through-hole, and the internal diameter of the close camera shooting generator terminal of through-hole is less than the diameter of optical filter 4, through-hole
The internal diameter of separate camera shooting generator terminal be greater than the diameter of optical filter 4, internal screw thread is equipped in through-hole, the internal screw thread in through-hole is located at through-hole
Separate camera shooting generator terminal；Optical filter fixed ring 5 is annulus, the separate camera shooting of the outer diameter of a circle and through-hole of optical filter fixed ring 5
The internal diameter of generator terminal is identical, and the interior diameter of a circle of optical filter fixed ring 5 is less than the diameter of optical filter 4, the outer circle of optical filter fixed ring 5
It is equipped with the external screw thread matched with the internal screw thread of through-hole week, optical filter fixed ring 5 is solid by the internal screw thread and optical filter of through-hole
Determine the through-hole that screws into of ring 5, optical filter 4 is put into the separate camera shooting generator terminal of through-hole, and passes through optical filter fixed ring 5 and through-hole
Close camera shooting generator terminal be fixed in through-hole.
Specifically, the diameter of optical filter 4 is all the same, through-hole is step through-hole, before the direction of the camera lens 2 of video camera is used as
To the internal diameter of through hole back-end (i.e. close to camera shooting generator terminal) is less than the diameter of optical filter 4, the front end of the through hole (i.e. far from camera shooting generator terminal)
Internal diameter is greater than the diameter of optical filter 4, and the front end of the through hole is equipped with internal screw thread；Optical filter switching part further includes optical filter fixed ring 5, filter
Mating plate fixed ring 5 is annulus, and the outer diameter of a circle of optical filter fixed ring 5 is identical as the internal diameter of the front end of the through hole, optical filter fixed ring 5
Interior diameter of a circle be less than the diameter of optical filter 4, the excircle of optical filter fixed ring 5 is equipped with and matches with the internal screw thread of through-hole
External screw thread, optical filter 4 is put into the front end of the through hole, and optical filter fixed ring 5 screws in the front end of the through hole, and optical filter 4 is fixed by optical filter
Ring 5 and through hole back-end are fixed in through-hole；The internal diameter of the front end of the through hole is greater than the internal diameter of through hole back-end, installation or replacement optical filter
When, it can be put into optical filter in the front end of the acquisition device, and screw in optical filter fixed ring 5, installation or the operation of replacement optical filter
It is more convenient.
Based on above embodiments, with reference to Fig. 3 and Fig. 4, limiting component includes the first component and second component, wherein first
Component includes rotational positioning wheel 13, and second component includes steel ball 9 and spring 10；Rotational positioning wheel 13 is in gear-like, rotational positioning
The centre of wheel 13 is equipped with centre bore, and runner shaft 7 passes through the centre bore and 13 coaxial line of rotational positioning wheel of rotational positioning wheel 13
It is fixedly connected, the excircle of rotational positioning wheel 13 is equipped with the groove of preset quantity；Pedestal 8 includes cylindrical depression position, spiral shell
The bottom at cylindrical depression position is arranged in pit, and the axis at cylindrical depression position is overlapped with the axis of threaded hole, cylinder
The side wall of shape depressed area is equipped with circular hole, and the axis of circular hole passes through the axis of rotational positioning wheel 13 and is parallel to 6 place of runner
Plane, spring 10 are placed in circular hole, and steel ball 9 is placed on spring 10, and it is fixed that steel ball 9 is embedded into rotation under the elastic force effect of spring 10
In the groove of position wheel 13.
Specifically, the centre bore that runner shaft 7 passes through rotational positioning wheel 13 is fixedly and coaxially connected with rotational positioning wheel 13, make to turn
Wheel shaft 7 makes runner shaft 7 stop rotating with 13 coaxial rotating of rotational positioning wheel or by braking rotational positioning wheel 13, rotational positioning wheel
13 excircle is equipped with groove, and the quantity of groove and the quantity of through-hole are identical；Pedestal 8 is additionally provided with cylindrical depression position, spiral shell
The bottom at cylindrical depression position is arranged in pit, and the axis at cylindrical depression position is overlapped with the axis of threaded hole, cylinder
The side wall of shape depressed area is equipped with circular hole, and the axis of circular hole passes through the axis of rotational positioning wheel and is parallel to the flat of 6 place of runner
Face, spring 10 are placed in circular hole, and steel ball 9 is placed on spring 10, and steel ball 9 is embedded into rotational positioning under the elastic force effect of spring 10
In groove on the excircle of wheel 13, the rotation of rotational positioning wheel 13 is limited, due to fixing with runner shaft 7 and 6 coaxial line of runner
Connection also limits the rotation of runner shaft 7 and runner 6, realizes the positioning to optical filter；There is certain external force, (manpower is electrical
Driving force) under the action of, continuing to rotate for runner shaft 7 and runner 6 is driven, and drive the protrusion between 13 groove of rotational positioning wheel
Circular arc and 9 contact squeeze of steel ball, compressed spring 10, after turning an angle, steel ball 9 is embedded under the elastic force effect of spring 10
Into next groove, positioning of the rotation realization of runner shaft 7 and runner 6 to next optical filter is limited again.
The present embodiment by rotational positioning wheel excircle be equipped with groove identical with number of openings, optical filter just
When being covered on the front of the camera lens of video camera, make steel ball card in groove using the elastic force of spring, with control rotational positioning wheel,
The rotation of runner shaft and runner, to realize the positioning to optical filter.
Based on above embodiments, the diameter of steel ball is greater than the diameter of circular hole, and the natural length of spring is greater than the depth of circular hole.
Specifically, the diameter of steel ball is greater than the diameter of circular hole, avoidable steel ball is pressed into inside circular hole, guarantees limiting section
The stability of part；The natural length of spring is greater than the depth of circular hole, and spring is made to keep having elastic force to steel ball, guarantees steel ball insertion
The position of fixation optical filter that can be more stable after to groove.
Based on above embodiments, circular hole is located at the lower section of rotational positioning wheel, and the axis of circular hole is along the vertical direction.
Specifically, circular hole is located at the lower section of rotational positioning wheel, and the axis of circular hole is along the vertical direction, makes spring will not be because
Original position, the as far as possible stability of guarantee limiting component operation are detached from for fortuitous event.
Finally, it is stated that: the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although ginseng
According to previous embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be with
It modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；And
These are modified or replaceed, the spirit and model of technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (7)
1. a kind of acquisition device of the crops multispectral image applied to agricultural robot characterized by comprising pedestal,
Video camera, optical filter switching part, limiting component and preset quantity optical filter；
The video camera is fixedly connected with the base, and the optical filter switching part is connect with the pedestal and the optical filter
Switching part can the relatively described base motions, the limiting component includes the first component and second component, and the first component can
Second component movement relatively, and the second component can prevent the first component from moving, the first component with it is described
Optical filter switching part is fixedly connected, and the second component is fixedly connected with the base, and the optical filter is fixed on the filter
Mating plate switching part；
The optical filter switching part, for controlling the optical filter movement and the optical filter being covered on the video camera
The front of camera lens；The limiting component, for the camera lens that the optical filter is mobile and is covered on the video camera just before
Fang Shi, prevents the movement of the optical filter switching part, and remain stationary the optical filter switching part；
Wherein, the acquisition device further includes camera fixing piece；
The video camera is fixedly connected with the base by the camera fixing piece, and the camera fixing piece is with straight
The L-type bars at angle, one end of the camera fixing piece are equipped with cylindrical type through-hole, and the camera fixing piece passes through the first spiral shell
Nail is fixedly connected with the base across the cylindrical type through-hole, and the other end of the camera fixing piece is logical equipped with long strip type
Hole, the camera fixing piece pass through the elongated through-holes by the second screw and are fixedly connected with the video camera.
2. acquisition device according to claim 1, which is characterized in that the optical filter switching part includes runner and runner
Axis；
The runner is in the form of annular discs, the axis of the runner perpendicular to the video camera camera lens end face, on the runner uniformly
Through-hole equipped with preset quantity, the through-hole, for fixing the optical filter, the centre of the runner is additionally provided with center
Hole, the centre bore that the runner shaft passes through the runner are fixedly connected with the runner coaxial line, and the runner shaft is equipped with outer spiral shell
Line, the pedestal are equipped with threaded hole, and the threaded hole is equipped with the internal screw thread that matches with the external screw thread of the runner shaft, and described turn
Wheel shaft in a manner of rotating in and out the threaded hole with the pedestal being connect.
3. acquisition device according to claim 2, which is characterized in that the optical filter is thin rounded flakes, and the through-hole is
Circular hole.
4. acquisition device according to claim 3, which is characterized in that the optical filter switching part further includes that optical filter is solid
Determine ring；
The diameter of the optical filter is all the same, and the through-hole is step through-hole, and the through-hole images the interior of generator terminal close to described
Diameter is less than the diameter of the optical filter, and the internal diameter far from the camera shooting generator terminal of the through-hole is greater than the diameter of the optical filter,
Internal screw thread is equipped in the through-hole, the internal screw thread in the through-hole is located at the separate camera shooting generator terminal of the through-hole；
The optical filter fixed ring is annulus, the outer diameter of a circle of the optical filter fixed ring and taking the photograph far from described for the through-hole
The internal diameter at camera end is identical, and the interior diameter of a circle of the optical filter fixed ring is less than the diameter of the optical filter, the optical filter
The excircle of fixed ring is equipped with the external screw thread matched with the internal screw thread of the through-hole, and the optical filter fixed ring passes through described
The internal screw thread of through-hole and the optical filter fixed ring screw into the through-hole, and the optical filter is put into the remote of the through-hole
Described lead to is fixed on from the camera shooting generator terminal, and by the close camera shooting generator terminal of the optical filter fixed ring and the through-hole
In hole.
5. acquisition device according to claim 2, which is characterized in that the first component includes rotational positioning wheel, described
Second component includes steel ball and spring；
The rotational positioning wheel is in gear-like, and the centre of the rotational positioning wheel is equipped with centre bore, and the runner shaft passes through
The centre bore of the rotational positioning wheel is fixedly connected with the rotational positioning wheel coaxial line, on the excircle of the rotational positioning wheel
Groove equipped with preset quantity；
The pedestal includes cylindrical depression position, and the bottom at the cylindrical depression position, and institute is arranged in the threaded hole
The axis for stating cylindrical depression position is overlapped with the axis of the threaded hole, and the side wall at the cylindrical depression position is equipped with circle
Hole, the plane that the axis of the circular hole passes through the axis of the rotational positioning wheel and is parallel to where the runner, the spring
It is placed in the circular hole, the steel ball is placed on the spring, and the steel ball is embedded into institute under the elastic force effect of the spring
In the groove for stating rotational positioning wheel.
6. acquisition device according to claim 5, which is characterized in that the diameter of the steel ball is greater than the straight of the circular hole
Diameter, the natural length of the spring are greater than the depth of the circular hole.
7. acquisition device according to claim 5, which is characterized in that the circular hole is located under the rotational positioning wheel
Side, the axis of the circular hole is along the vertical direction.
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| CN201711019016.7A CN107920190B (en) | 2017-10-26 | 2017-10-26 | The acquisition device of crops multispectral image applied to agricultural robot |
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| CN107920190B true CN107920190B (en) | 2019-09-10 |
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| CN108508562B (en) * | 2018-04-18 | 2023-05-26 | 中国科学院西安光学精密机械研究所 | A Shaftless Enclosed Filter Switching Device for Easy Zoom Lens Integration |
| CN110529712B (en) * | 2019-09-24 | 2020-10-16 | 吉林大学 | Recessive human and animal detection alarm device for high-stalk crop operation area |
| CN111623874A (en) * | 2020-05-22 | 2020-09-04 | 季华实验室 | Multispectral imaging device |
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| JP2009258618A (en) * | 2008-03-27 | 2009-11-05 | Olympus Corp | Filter switching device, photographing lens, camera and image pickup system |
| CN102313956A (en) * | 2011-08-26 | 2012-01-11 | 深圳市优威视讯科技有限公司 | Optical device automatic switching device and photography equipment |
| CN203535358U (en) * | 2013-08-15 | 2014-04-09 | 重庆盾银科技有限公司 | Multispectral optical filter switching apparatus used for camera |
| CN206161955U (en) * | 2016-10-19 | 2017-05-10 | 贾逸文 | A light filter runner device for having more spectral imaging |
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