CN109573771A - A kind of Machine Vision Inspecting System for electric lift - Google Patents
A kind of Machine Vision Inspecting System for electric lift Download PDFInfo
- Publication number
- CN109573771A CN109573771A CN201910000115.3A CN201910000115A CN109573771A CN 109573771 A CN109573771 A CN 109573771A CN 201910000115 A CN201910000115 A CN 201910000115A CN 109573771 A CN109573771 A CN 109573771A
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- China
- Prior art keywords
- reflecting mirror
- detected
- light source
- camera unit
- lift
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
Landscapes
- Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
Abstract
The present invention provides a kind of Machine Vision Inspecting Systems for electric lift, including camera unit, light source to be detected, reflecting mirror and controller.Light source to be detected is mounted on lift carriage bottom, and as lift carriage carries out oscilaltion.Light source and camera unit to be detected are respectively positioned on reflecting mirror or more, and light source relative reflection mirror to be detected carries out oscilaltion, and camera unit relative reflection mirror is fixed.Camera unit, reflecting mirror and light source to be detected are in V word arrangement.Light source to be detected is imaged on the imaging point of reflecting mirror by light incident path, and the imaging point position of reflecting mirror is changed along straight line path when lift carriage carries out oscilaltion.Camera unit is located across on the light reflection path of imaging point, and by obtaining the detection image including the picture of light source to be detected on the mirror.Controller is according to the present level of the imaging point coordinate measurement lift carriage in the edge coordinate and detection image of detection image.
Description
Technical field
The present invention relates to a kind of Machine Vision Inspecting Systems for electric lift, in particular to a kind of to be used for electronic liter
Drop machine is to detect the Machine Vision Inspecting System of roller table top present level.
Background technique
Vision detection system is exactly to replace human eye to go to complete the functions such as identification, measurement, positioning with industrial camera.View at present
Feel that detection system is widely used in production line, to realize including but is not limited to positioning function.But in electronic liter
In terms of drop machine, since the roller table top heave amplitude of electric lift is small, and equipment volume is small, is unfavorable for vision detection system
Detection.Also therefore, it is difficult to apply vision-based detection in this respect.Having feasible scheme only at present is that branch takes outside support,
Vision detection system is mounted on outside support.It is empty to widen detection by making vision detection system and electric lift fission
Between.But it in this way and is easy to be disturbed.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of Machine Vision Inspecting System for electric lift, beat
The limitation of broken electric lift adjustable height and instrument size, can directly install on electric lift.
A technical solution of the invention is a kind of Machine Vision Inspecting System for electric lift, the electronic liter
Drop machine includes Liftable type lift carriage, the Machine Vision Inspecting System include camera unit, light source to be detected, reflecting mirror,
And controller.The light source to be detected is mounted on the lift carriage bottom, and as the lift carriage carries out up and down
Lifting.The light source to be detected and the camera unit are respectively positioned on the reflecting mirror or more, and the light source to be detected is relatively described
Reflecting mirror carries out oscilaltion, and the relatively described reflecting mirror of the camera unit is fixed.The camera unit, the reflecting mirror, with
And the light source to be detected is in V word arrangement.The light source to be detected is by light incident path on the imaging point of the reflecting mirror
Imaging, and when the lift carriage carries out oscilaltion, the imaging point position of the reflecting mirror is become along straight line path
Change.The camera unit is located across on the light reflection path of the imaging point, and is wrapped by obtaining on the reflecting mirror
Include the detection image including the picture of the light source to be detected.The controller is according to the edge coordinate of the detection image and described
The present level of lift carriage described in imaging point coordinate measurement in detection image.
As an implementation, when the lift carriage is risen, the imaging point position of the reflecting mirror along
Straight line path is gradually changed to the camera unit side.When the lift carriage is declined, the reflection
The imaging point position of mirror is gradually changed along straight line path to the light source side to be detected.
As an implementation, the reflecting mirror is plane mirror, so that the imaging point coordinate phase in the detection image
Present level about the lift carriage changes linearly.
As an implementation, the electric lift further include provide the camera unit, the lift carriage, with
And the L shape pedestal of the reflecting mirror installation.The camera unit and the reflecting mirror are fixedly connected on the L shape pedestal.Institute
It states lift carriage to be operatively connected on the L shape pedestal, to carry out oscilaltion.
As an implementation, the electric lift further includes camera shooting bracket.The camera unit is taken the photograph by described
As bracket is fixedly connected on the L shape pedestal.
As an implementation, the electric lift further includes the first sliding rail being set on the L shape pedestal, first
Sliding block, the second sliding rail and the second sliding block.First sliding rail and second sliding rail it is parallel to each other and respectively provide described in
First sliding block is connected with second sliding block.The lift carriage is connected to institute by first sliding block and second sliding block
It states on the first sliding rail and second sliding rail.
The beneficial effect of the present invention compared with the prior art is light source to be detected to be additionally arranged at the bottom of in lift carriage, so as to mention
The lifting action for rising rack is more readily detected.And making camera unit, reflecting mirror and light source to be detected is in V word arrangement, by
Mirror image is to widen detection space.
Detailed description of the invention
Fig. 1 is the structure chart for the electric lift entirety based on machine vision that an embodiment of the present invention provides；
Fig. 2 is the structure chart of an embodiment of the present invention the L shape pedestal provided and lift carriage；
Fig. 3 is the structure chart of L shape pedestal and balance weight assembly that an embodiment of the present invention provides；
Fig. 4 is the structure chart for the balance weight assembly that an embodiment of the present invention provides.
In figure: 1, L shape pedestal；2, lift carriage；3, roller table top；4, balance weight assembly；4a, the first weight guide；4b,
Two weight guides；4c, counter-balanced carriage；4ca, U-shaped bottom frame；4caa, linear type mouth；4cb, top cover；4d, clump weight；4e, first are led
Wheel；4f, the second guide wheel；5, motor is promoted；6, shaft assembly is promoted；7, camera unit；8, light source to be detected；9, reflecting mirror；10, it controls
Device processed；11, bracket is imaged；12, the first sliding rail；13, the first sliding block；14, the second sliding rail；15, the second sliding block.
Specific embodiment
Below in conjunction with attached drawing, the embodiment and advantage above-mentioned and other to the present invention are clearly and completely described.
Obviously, described embodiment is only some embodiments of the invention, rather than whole embodiments.
In one embodiment, as shown in Figure 1.Electric lift based on machine vision includes L shape pedestal 1, is set to L
The lift carriage 2 of 1 side of shape pedestal, the roller table top 3 in lift carriage 2, the weight set set on 1 other side of L shape pedestal
Part 4 and promotion motor 5 and promotion shaft assembly 6 at the top of L shape pedestal 1.In the present embodiment, lift carriage 2 and match
Recombinating part 4 can be along the two sides synchronization lifting of L shape pedestal 1.It promotes the transmission connection of motor 5 and promotes shaft assembly 6, promote shaft assembly
6 transmission connection lift carriages 2 and balance weight assembly 4.Top of the shaft assembly 6 between lift carriage 2 and balance weight assembly 4 is promoted,
In the case where promoting motor 5 and driving, synchronous liter of the two sides that shaft assembly 6 makes lift carriage 2 with balance weight assembly 4 along L shape pedestal 1 are promoted
Drop.So as to adjust the height of roller table top 3.
In the present embodiment, the electric lift based on machine vision further includes the axis for being provided close to be promoted shaft assembly 6
The camera unit 7 of line extension line, the light source to be detected 8 set on 2 bottom of lift carriage, the reflecting mirror 9 on L shape pedestal 1, with
And controller 10.The axis extension line for promoting shaft assembly 6 is shown in Fig. 1 with dotted line a.Camera unit 7 is located at 2 He of lift carriage
Top between balance weight assembly 4.The both ends of reflecting mirror 9 extend respectively to the lower section of camera unit 7 and light source to be detected 8, so that
Detection image of the available light source 8 to be detected of camera unit 7 in different height.In the present embodiment, light source 8 to be detected
It is imaged on the imaging point of reflecting mirror 9, it is exactly one straight that imaging point set is formed when light source 8 to be detected is in different height
Line.It includes that light source 8 to be detected exists that camera unit 7, which is located across on the light reflection path of imaging point and is obtained by reflecting mirror 9,
Interior detection image；Controller 10 is according to the edge coordinate of detection image and the imaging point coordinate measurement lift carriage of detection image
2 and roller table top 3 height.In the present embodiment, when light source 8 to be detected is in different height, the imaging point of detection image
Coordinate generates variation.By being additionally arranged at the bottom of light source 8 to be detected in lift carriage 2, and it is subject to reflecting mirror 9 and is detected, compresses
Space needed for vision-based detection.Break adjustable height and the inadequate limitation of instrument size, vision inspection is realized on electric lift
It surveys.
In one embodiment, as shown in Figure 1.Electric lift based on machine vision further includes being set to L shape pedestal 1
On camera shooting bracket 11.Top of the bracket 11 between lift carriage 2 and balance weight assembly 4 is imaged, camera shooting bracket 11, which is located at, to be mentioned
The axis extending direction of lifting shaft component 6 and the close axis extension line for promoting shaft assembly 6.It images bracket 11 and camera unit is provided
7 installations.In the present embodiment, camera unit 7 is mounted on L shape pedestal 1 by camera shooting bracket 11, so that camera unit 7
It is located across on the light reflection path of imaging point.Light incident path and light reflection are respectively illustrated with dotted line b and dotted line c in Fig. 1
Path.
In one embodiment, as shown in Figure 2.Electric lift based on machine vision further includes being set to L shape pedestal 1
The first sliding rail 12, the first sliding block 13, the second sliding rail 14 and the second sliding block 15 of side.First sliding rail 12 and the second sliding rail 14
It is parallel to each other and provide respectively the first sliding block 13 and the second sliding block 15 connection.Lift carriage 2 passes through the first sliding block 13 and second
Sliding block 15 is connected on the first sliding rail 12 and the second sliding rail 14.In the present embodiment, by the connection of sliding rail and sliding block, so that
Lift carriage 2 can be slided up and down with respect to L shape pedestal 1.In a preferred embodiment, the first sliding block 13 and the second sliding block
15 include two.Increase the stability of lift carriage 2 with this.
In one embodiment, as shown in Figure 3.Balance weight assembly 4 includes the first counterweight set on 1 other side of L shape pedestal
Guide rail 4a and the second weight guide 4b, it the counter-balanced carriage 4c between the first weight guide 4a and the second weight guide 4b, is set to
Clump weight 4d in counter-balanced carriage 4c and the first guide wheel 4e and the second guide wheel 4f for being connected to the two sides counter-balanced carriage 4c.Counterweight
Frame 4c is connected between the first weight guide 4a and the second weight guide 4b by the first guide wheel 4e and the second guide wheel 4f.In this reality
Apply in mode, allow counter-balanced carriage 4c in the first weight guide 4a by the first weight guide 4a and the second weight guide 4b and
It is slided up and down between second weight guide 4b.And being arranged can increase electronic with the counter-balanced carriage 4c of 2 synchronization lifting of lift carriage
The stability of elevator.In a preferred embodiment, the first guide wheel 4e and the second guide wheel 4f includes two.
In one embodiment, as shown in Figure 4.Counter-balanced carriage 4c includes U-shaped bottom frame 4ca and top cover 4cb.Top cover 4cb is solid
Surely it is connected to the open position of U-shaped bottom frame 4ca.U-shaped bottom frame 4ca includes the linear type mouth 4caa close to its open position.Counterweight
Block 4d includes multiple and is plate, and clump weight 4d can take out from linear type mouth 4caa.In the present embodiment, can pass through
Clump weight 4d is picked and placed to increase and decrease the weight of counter-balanced carriage 4c.Also correspond to the counterweight Parameter adjustable for making counter-balanced carriage 4c.
Above specific embodiment has carried out into one goal of the invention of the invention, technical solution and beneficial effect
The detailed description of step.It should be appreciated that the guarantor being not intended to limit the present invention the above is only a specific embodiment of the invention
Protect range.It particularly points out, to those skilled in the art, all within the spirits and principles of the present invention, that is done is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of Machine Vision Inspecting System for electric lift, the electric lift includes Liftable type lift carriage
(2), which is characterized in that the Machine Vision Inspecting System include camera unit (7), light source to be detected (8), reflecting mirror (9), with
And controller (10)；
The light source to be detected (8) is mounted on the lift carriage (2) bottom, and as the lift carriage (2) carries out
Lower lifting；The light source to be detected (8) and the camera unit (7) are respectively positioned on the reflecting mirror (9) or more, the light to be detected
The relatively described reflecting mirror (9) in source (8) carries out oscilaltion, and the relatively described reflecting mirror (9) of the camera unit (7) is fixed；It is described
Camera unit (7), the reflecting mirror (9) and the light source to be detected (8) are in V word arrangement；
The light source to be detected (8) is imaged on the imaging point of the reflecting mirror (9) by light incident path, and is mentioned when described
The imaging point position for rising the reflecting mirror (9) when rack (2) carry out oscilaltion is changed along straight line path；The camera shooting
Unit (7) is located across on the light reflection path of the imaging point, and includes described by obtaining on the reflecting mirror (9)
Detection image including the picture of light source (8) to be detected；
The controller (10) is according to the imaging point coordinate measurement in the edge coordinate and the detection image of the detection image
The present level of the lift carriage (2).
2. the Machine Vision Inspecting System according to claim 1 for electric lift, which is characterized in that mentioned when described
Rack (2) are risen when being risen, the imaging point position of the reflecting mirror (9) is along straight line path to the camera unit (7) institute
It is gradually changed in side；When the lift carriage (2) is declined, the imaging point position of the reflecting mirror (9) along
Straight line path is gradually changed to light source (8) side to be detected.
3. the Machine Vision Inspecting System according to claim 1 or 2 for electric lift, which is characterized in that described
Reflecting mirror (9) is plane mirror, so that the imaging point coordinate in the detection image is relevant to the current height of the lift carriage (2)
Degree changes linearly.
4. the Machine Vision Inspecting System according to claim 1 for electric lift, which is characterized in that described electronic
Elevator further includes providing the L shape bottom of the camera unit (7), the lift carriage (2) and the reflecting mirror (9) installation
Seat (1)；The camera unit (7) and the reflecting mirror (9) are fixedly connected on the L shape pedestal (1)；The lift carriage
(2) it is operatively connected on the L shape pedestal (1), to carry out oscilaltion.
5. the Machine Vision Inspecting System according to claim 4 for electric lift, which is characterized in that described electronic
Elevator further includes camera shooting bracket (11)；The camera unit (7) is fixedly connected on the L shape by the camera shooting bracket (11)
On pedestal (1).
6. the Machine Vision Inspecting System according to claim 4 for electric lift, which is characterized in that described electronic
Elevator further include the first sliding rail (12) on the L shape pedestal (1), the first sliding block (13), the second sliding rail (14) and
Second sliding block (15)；First sliding rail (12) and second sliding rail (14) is parallel to each other and to provide described first respectively sliding
Block (13) and second sliding block (15) connection；The lift carriage (2) is slided by first sliding block (13) and described second
Block (15) is connected on first sliding rail (12) and second sliding rail (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910000115.3A CN109573771B (en) | 2019-01-01 | 2019-01-01 | Machine vision detection system for electric elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910000115.3A CN109573771B (en) | 2019-01-01 | 2019-01-01 | Machine vision detection system for electric elevator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109573771A true CN109573771A (en) | 2019-04-05 |
| CN109573771B CN109573771B (en) | 2020-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910000115.3A Active CN109573771B (en) | 2019-01-01 | 2019-01-01 | Machine vision detection system for electric elevator |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2211046A (en) * | 1987-10-10 | 1989-06-21 | Thames Valley Lift Company Lim | Lift movement monitoring |
| US5215423A (en) * | 1990-09-21 | 1993-06-01 | Edelhoff Polytechnik Gmbh & Co. | System for determining the spatial position of an object by means of a video optical sensor |
| JPH0814875A (en) * | 1994-06-24 | 1996-01-19 | Hitachi Kiden Kogyo Ltd | Method of compensating measure value in object position detecting device |
| CN202886394U (en) * | 2012-11-17 | 2013-04-17 | 山东省特种设备检验研究院济宁分院 | Forklift gantry elevation speed detecting device |
| CN206538154U (en) * | 2017-01-18 | 2017-10-03 | 江苏新美星液体包装工程技术研究中心有限公司 | The lifting drive of shifting carrying platform in stacking machine |
| CN108931236A (en) * | 2018-04-11 | 2018-12-04 | 上海交通大学 | Industrial robot end repetitive positioning accuracy measuring device and method |
-
2019
- 2019-01-01 CN CN201910000115.3A patent/CN109573771B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2211046A (en) * | 1987-10-10 | 1989-06-21 | Thames Valley Lift Company Lim | Lift movement monitoring |
| US5215423A (en) * | 1990-09-21 | 1993-06-01 | Edelhoff Polytechnik Gmbh & Co. | System for determining the spatial position of an object by means of a video optical sensor |
| JPH0814875A (en) * | 1994-06-24 | 1996-01-19 | Hitachi Kiden Kogyo Ltd | Method of compensating measure value in object position detecting device |
| CN202886394U (en) * | 2012-11-17 | 2013-04-17 | 山东省特种设备检验研究院济宁分院 | Forklift gantry elevation speed detecting device |
| CN206538154U (en) * | 2017-01-18 | 2017-10-03 | 江苏新美星液体包装工程技术研究中心有限公司 | The lifting drive of shifting carrying platform in stacking machine |
| CN108931236A (en) * | 2018-04-11 | 2018-12-04 | 上海交通大学 | Industrial robot end repetitive positioning accuracy measuring device and method |
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| Publication number | Publication date |
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| CN109573771B (en) | 2020-11-10 |
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Effective date of registration: 20201021 Address after: 215000 Huangqiao Street East Street, Xiangcheng District, Suzhou City, Jiangsu Province Applicant after: Suzhou dongtinghe Intelligent Technology Development Co., Ltd Address before: 410000 Room 1914, 9/F, Cultural Building, 139 Shaoshan North Road, Chaoyang Street, Furong District, Changsha City, Hunan Province Applicant before: Zhou Yi |
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