CN108890691A - A kind of robotic vision system - Google Patents
A kind of robotic vision system Download PDFInfo
- Publication number
- CN108890691A CN108890691A CN201810709351.8A CN201810709351A CN108890691A CN 108890691 A CN108890691 A CN 108890691A CN 201810709351 A CN201810709351 A CN 201810709351A CN 108890691 A CN108890691 A CN 108890691A
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- China
- Prior art keywords
- camera
- image
- sphere
- vision system
- robotic vision
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The invention discloses a kind of robotic vision systems, including sphere, 180 ° of swingles, camera, 360 ° of rotating disks, electric telescopic rod and mounting cup, the camera is mounted on the sphere by the way that 180 ° of swingles are embedded, several silica gel protrusions are uniformly provided on the outer surface of the sphere, and the level height of silica gel protrusion is higher than the camera, the mounting cup is the cube structure of upper end opening, the sphere is mounted in the mounting cup by electric telescopic rod, the sphere is mounted on the upper end of the electric telescopic rod by 360 ° of rotating disks, it is embedded on the installation cover inner surface and the high pressure spray port matched with the camera is installed.The present invention expands the angular range of shooting, and the included angle information of all acquired images can carry out the deflection of image angle as needed, convenient for the image procossing in later period, while included camera dirt discovery and clearing function.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of robotic vision system.
Background technique
The existing generally existing following defect of robotic vision system：
1, shooting angle is not wide enough, be easy to cause dead angle.
2, the artificial dirt gone on discovery camera is needed, there is very big hysteresis quality；
3, all acquired images bring inconvenience to the processing work of later image without angle information；
4, when encountering shock or falling down, it is easy to cause the damage of camera.
Summary of the invention
The object of the present invention is to provide a kind of robotic vision systems, expand the angular range of shooting, all to adopt
The included angle information of the image collected, can carry out the deflection of image angle, convenient for the image procossing in later period, simultaneously as needed
Included camera dirt discovery and clearing function.
To achieve the above object, the technical scheme adopted by the invention is as follows：
A kind of robotic vision system, including sphere, 180 ° of swingles, camera, 360 ° of rotating disks, electric telescopic rod and
Mounting cup, the camera are mounted on the sphere by the way that 180 ° of swingles are embedded, uniformly set on the outer surface of the sphere
There are several silica gel protrusions, and the level height of silica gel protrusion is higher than the camera, the mounting cup is the vertical of upper end opening
Cube structure, the sphere are mounted in the mounting cup by electric telescopic rod, and the sphere passes through 360 ° of rotating disk installations
It is embedded on the upper end of the electric telescopic rod, the installation cover inner surface and the high pressure spray matched with the camera is installed
Port.
Further, the lower end of the electric telescopic rod and the inner bottom surface of the mounting cup are affixed by bolt, and upper end is logical
It crosses bolt and the bottom surface of 360 ° of rotating disks is affixed.
Further, a PLC controller is installed in the sphere, the PLC controller and 180 ° of swingles, camera shooting
Head, 360 ° of rotating disks, electric telescopic rod are electrically connected.
Further, a 3-dimensional digital compass is installed, for obtaining the attitude data of camera in the camera.
Further, several light compensating lamps are additionally provided on the ball cover outer surface, the level height of the light compensating lamp is lower than described
Silica gel protrusion.
It further, further include an image processing system, which uses bilateral filtering and histogram equalization
Change and carries out image filtering and image enhancement pretreatment respectively；It is carried out at image binaryzation using iteration self-adapting thresholding method
Reason；Morphology area feature based on connected component removes the miscellaneous spot noise of small area, completes the detection and identification of target, works as discovery
There are when same target in image acquired in two width different angles, then image collecting function is closed, camera is moved to height
It presses below puff prot, starting high-pressure jet device carries out the cleaning of camera, after the completion of cleaning, can continue to be actuated for image
Acquisition.
Further, described image processing system is also used to determine the deflection angle of each image according to 3-dimensional digital compass
Degree, and carry out by the deflection angle of one of image the reconstruct of other images, and will treated that image is sent to data deposits
Storage module is stored.
Further, the reconstruct of other images is completed by following steps；
The supplement deflection angle of each image is calculated according to the deflection angle of each image；
Each image is repainted according to the supplement deflection angle of each image.
Further, after completing camera cleaning, it has been found that then being opened when same target occur in freshly harvested two images
Dynamic short message editing sending module carries out the transmission of early warning short message, and staff is reminded to carry out checking for camera situation in time.
The invention has the advantages that：
The bat for expanding camera is used by the collaboration of 180 ° of swingles, camera, 360 ° of rotating disks, electric telescopic rod
The angular range taken the photograph, the included angle information of all acquired images, can carry out the deflection of image angle as needed, be convenient for
The image procossing in later period, while included camera dirt discovery and clearing function.And when occurring to hit or fall down, silica gel protrusion
Design, can directly be hit to avoid camera, thus realize protection camera function.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of robotic vision system of the embodiment of the present invention.
Specific embodiment
In order to which objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments further
It is described in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this hair
It is bright.
As shown in Figure 1, the embodiment of the invention provides a kind of robotic vision system, including 1,180 ° of swingle 2 of sphere,
3,360 ° of rotating disks 4 of camera, electric telescopic rod 5 and mounting cup 6, the camera 3 are mounted on by the way that 180 ° of swingles 2 are embedded
On the sphere 1, several silica gel protrusions 8, and the level height of the silica gel protrusion 8 are uniformly provided on the outer surface of the sphere 1
Higher than the camera 3, the mounting cup 6 is the cube structure of upper end opening, and the sphere 1 is pacified by electric telescopic rod 5
In the mounting cup 6, the sphere 1 is mounted on the upper end of the electric telescopic rod 5, the peace by 360 ° of rotating disks 4
It is embedded on dress 6 inner surfaces of cover and the high pressure spray port 7 matched with the camera 3 is installed.The lower end of the electric telescopic rod 5
Affixed by bolt with the inner bottom surface of the mounting cup 6, upper end is affixed by bolt and the bottom surface of 360 ° of rotating disks 4.
A PLC controller is installed in the sphere 1, the PLC controller and 3,360 ° of 180 ° of swingles 2, camera rotating disks
4, electric telescopic rod 5 is electrically connected.One 3-dimensional digital compass is installed, for obtaining the posture of camera in the camera 3
Data.Several light compensating lamps are additionally provided on the ball cover outer surface, the level height of the light compensating lamp is lower than the silica gel protrusion 8.
It further include an image processing system, which is carried out respectively using bilateral filtering and histogram equalization
Image filtering and image enhancement pretreatment；Image binaryzation processing is carried out using iteration self-adapting thresholding method；Based on connection
The morphology area feature of component removes the miscellaneous spot noise of small area, completes the detection and identification of target, when two width difference angles of discovery
There are when same target in the acquired image of degree, then image collecting function is closed, camera is moved under high pressure spray port
Side, starting high-pressure jet device carry out the cleaning of camera, after the completion of cleaning, can continue to be actuated for Image Acquisition.
Described image processing system is also used to determine the deflection angle of each image according to 3-dimensional digital compass, and by wherein
The deflection angle of one image carries out the reconstruct of other images, and will treated that image is sent to data memory module deposits
Storage.The reconstruct of other images is completed by following steps；
The supplement deflection angle of each image is calculated according to the deflection angle of each image；
Each image is repainted according to the supplement deflection angle of each image.
After completing camera cleaning, it has been found that then starting short message volume when same target occur in freshly harvested two images
The transmission that sending module carries out early warning short message is collected, staff is reminded to carry out checking for camera situation in time.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, it can also make several improvements and retouch, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of robotic vision system, it is characterised in that：Including sphere (1), 180 ° of swingles (2), camera (3), 360 °
Rotating disk (4), electric telescopic rod (5) and mounting cup (6), the camera (3) are mounted on institute by the way that 180 ° of swingles (2) are embedded
It states on sphere (1), several silica gel protrusions (8), and the water of the silica gel raised (8) is uniformly provided on the outer surface of the sphere (1)
Flat height is higher than the camera (3), and the mounting cup (6) is the cube structure of upper end opening, and the sphere (1) passes through electricity
Dynamic telescopic rod (5) are mounted in the mounting cup (6), and the sphere (1) is mounted on described electronic stretch by 360 ° of rotating disks (4)
The upper end of contracting bar (5) embeds on mounting cup (6) inner surface and is equipped with the high-pressure jet matched with the camera (3)
Mouth (7).
2. a kind of robotic vision system as described in claim 1, it is characterised in that：The lower end of the electric telescopic rod (5)
Affixed by bolt with the inner bottom surface of the mounting cup (6), upper end is solid by bolt and the bottom surface of 360 ° of rotating disks (4)
It connects.
3. a kind of robotic vision system as described in claim 1, it is characterised in that：A PLC is installed in the sphere (1)
Controller, the PLC controller and 180 ° of swingles (2), camera (3), 360 ° of rotating disks (4), electric telescopic rod (5) electricity
Property connection.
4. a kind of robotic vision system as described in claim 1, it is characterised in that：One is equipped in the camera (3)
3-dimensional digital compass, for obtaining the attitude data of camera.
5. a kind of robotic vision system as described in claim 1, it is characterised in that：If being additionally provided on the ball cover outer surface
The level height of dry light compensating lamp, the light compensating lamp is raised (8) lower than the silica gel.
6. a kind of robotic vision system as described in claim 1, it is characterised in that：It further include an image processing system, it should
Image processing system carries out image filtering and image enhancement pretreatment using bilateral filtering and histogram equalization respectively；Using repeatedly
Image binaryzation processing is carried out for adaptive threshold fuzziness method；Morphology area feature removal small area based on connected component is miscellaneous
Spot noise completes the detection and identification of target, when finding acquired in two width different angles in image there are when same target, then
Image collecting function is closed, camera is moved to below high pressure spray port, starting high-pressure jet device carries out the clear of camera
Reason, after the completion of cleaning, can continue to be actuated for Image Acquisition.
7. a kind of robotic vision system as claimed in claim 6, it is characterised in that：Described image processing system is also used to root
The deflection angle of each image is determined according to 3-dimensional digital compass, and carries out other images by the deflection angle of one of image
Reconstruct, and will treated that image is sent to data memory module stores.
8. a kind of robotic vision system as claimed in claim 7, it is characterised in that：Other images are completed by following steps
Reconstruct；
The supplement deflection angle of each image is calculated according to the deflection angle of each image；
Each image is repainted according to the supplement deflection angle of each image.
9. a kind of robotic vision system as claimed in claim 6, it is characterised in that：After completing camera cleaning, still send out
When same target occur in existing freshly harvested two images, then starts the transmission that short message editing sending module carries out early warning short message, mention
Awake staff carries out checking for camera situation in time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810709351.8A CN108890691A (en) | 2018-07-02 | 2018-07-02 | A kind of robotic vision system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810709351.8A CN108890691A (en) | 2018-07-02 | 2018-07-02 | A kind of robotic vision system |
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| CN108890691A true CN108890691A (en) | 2018-11-27 |
Family
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| CN201810709351.8A Pending CN108890691A (en) | 2018-07-02 | 2018-07-02 | A kind of robotic vision system |
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Citations (7)
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|---|---|---|---|---|
| JPH10216666A (en) * | 1997-02-07 | 1998-08-18 | Matsushita Electric Ind Co Ltd | Air injection-type cleaner |
| CN203061517U (en) * | 2012-12-12 | 2013-07-17 | 卢鹰 | Pipeline robot used for automatic distribution system of internet-of-things pipeline |
| CN104320633A (en) * | 2014-11-19 | 2015-01-28 | 国网浙江余姚市供电公司 | Remote image collection device |
| CN204687980U (en) * | 2015-05-07 | 2015-10-07 | 冠山(上海)汽车科技有限公司 | A kind of electric bicycle rearview mirror |
| CN205905032U (en) * | 2016-07-14 | 2017-01-25 | 深圳普得技术有限公司 | Robot |
| CN107176432A (en) * | 2017-06-15 | 2017-09-19 | 西安科技大学 | A kind of anchor pole foreign matter and belt tearing detecting system based on machine vision |
| CN107543531A (en) * | 2017-08-13 | 2018-01-05 | 天津职业技术师范大学 | A kind of Robot visual location system |
-
2018
- 2018-07-02 CN CN201810709351.8A patent/CN108890691A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10216666A (en) * | 1997-02-07 | 1998-08-18 | Matsushita Electric Ind Co Ltd | Air injection-type cleaner |
| CN203061517U (en) * | 2012-12-12 | 2013-07-17 | 卢鹰 | Pipeline robot used for automatic distribution system of internet-of-things pipeline |
| CN104320633A (en) * | 2014-11-19 | 2015-01-28 | 国网浙江余姚市供电公司 | Remote image collection device |
| CN204687980U (en) * | 2015-05-07 | 2015-10-07 | 冠山(上海)汽车科技有限公司 | A kind of electric bicycle rearview mirror |
| CN205905032U (en) * | 2016-07-14 | 2017-01-25 | 深圳普得技术有限公司 | Robot |
| CN107176432A (en) * | 2017-06-15 | 2017-09-19 | 西安科技大学 | A kind of anchor pole foreign matter and belt tearing detecting system based on machine vision |
| CN107543531A (en) * | 2017-08-13 | 2018-01-05 | 天津职业技术师范大学 | A kind of Robot visual location system |
Non-Patent Citations (1)
| Title |
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| 郝飞、史金飞、朱松青、张志胜、韩亚丽、陈茹雯: "机器视觉系统前置矩形LED阵列的优化布置", 《光学学报》 * |
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Application publication date: 20181127 |