CN109751987A - A kind of vision laser locating apparatus and localization method for mechanical actuating mechanism - Google Patents
A kind of vision laser locating apparatus and localization method for mechanical actuating mechanism Download PDFInfo
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- CN109751987A CN109751987A CN201910067839.XA CN201910067839A CN109751987A CN 109751987 A CN109751987 A CN 109751987A CN 201910067839 A CN201910067839 A CN 201910067839A CN 109751987 A CN109751987 A CN 109751987A
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Abstract
The present invention relates to the Advanced Integrity Inspection Techniques of a kind of vision and laser locator, specifically refer to a kind of vision laser locating apparatus and localization method for mechanical actuating mechanism, including locating rack (1), cross laser detector (2) and visual sensor (3), one end that the visual sensor (3) is mounted on locating rack (1) and camera lens is vertically downward, the other end that the cross laser detector (2) is mounted on locating rack (1) is oblique, the cross positioning projection line of the cross laser detector (2) is located at below the camera lens of visual sensor (3).
Description
Technical field
The present invention relates to the Advanced Integrity Inspection Techniques, in particular to a kind of machinery that is used for of a kind of vision and laser locator to execute
The vision laser locating apparatus and localization method of mechanism.
Background technique
In dynamoelectric intelligent control, final executing agency carries the various work such as crawl, assembly, carrying, spraying, mesh
Preceding overwhelming majority Mechatronic control system is generallyd use and simply approaches switch, photoelectric sensor, suddenly in order to smoothly realizing control
Your device, travel switch etc. control its stroke, but this method is built upon and is performed part and has been in pinpoint occasion, significantly
The target of the type for being performed object and online Dynamic Execution is limited, and accurate positioning requirement also increases electromechanical execute and moves
The cost of work, therefore, the method and apparatus that can be carried out three-dimensional accurate dimension detection positioning are always that dynamoelectric intelligent control is pursued
Target, in order to be able to achieve the crawl of dynamic object, uses binocular and detects so that end effector is using Multi-shaft mechanical arm as an example
(double vision feels CCD) plus the method for complicated point cloud computing, not only at high cost but also real-time is poor, and the single vision that the present invention uses
The shortcomings that adding the 3 D detection method of laser locator to compensate for binocular detection.
Summary of the invention
For above-mentioned deficiency in the prior art, the present invention provides a kind of single vision of use and adds laser locator to reality
The automated guided vehicle and guiding tracking of existing precise linear operation and adjustment operation posture.
To realize the above technical purpose, the technical scheme is that a kind of vision laser for mechanical actuating mechanism
Positioning device, including locating rack, cross laser detector and visual sensor, the visual sensor are mounted on the one of locating rack
End and camera lens vertically downward, the other end that the cross laser detector is mounted on locating rack is oblique, the cross laser
The cross positioning projection line of detector is located at below the camera lens of visual sensor.
Preferably, the locating rack is mountable on material transferring platform.
Preferably, the locating rack is mountable on mechanical actuating mechanism.
To realize the above technical purpose, the technical scheme is that a kind of vision laser for mechanical actuating mechanism
The localization method of positioning device, includes the following steps:
Step 1: the cross positioning projection line of cross laser detector is first projected to the surface of object to be measured, detection ten
Field positions of the longitudinal and transverse line of word positioning projection line in visual sensor；
Step 2: the calibration object of known length, width and height size is placed in the field of detection of visual sensor, adjustment ten
The focusing length and width of word laser detector, so that the longitudinal and transverse wire length of cross positioning projection line is wider than standard item；
Step 3: longitudinal and transverse line that cross laser detector under the height the issues position in the visual field of visual sensor is demarcated
Set, and under the length and width of the calibration object cross positioning projection line longitudinal and transverse line in the field of detection of visual sensor
Length and width；
Step 4: object to be grabbed, which is placed and moved to below locating rack, and is located at calibration object places the initial of detection
Position position, shooting grab the image in cross hairs and its and object edge crosspoint information, processing crawl image in cross
The mobile message of line is converted to object dimensional information, and sends mechanical actuating mechanism to and grabbed.
Above description can be seen that the present invention and have following advantages: emit using image visual transducer and actively light
Cross laser locator realize the detection of single vision three-dimensional information (irregular edge object needs motion scan).
2. by position of the vertically and horizontally line (as schemed) in visual field in cross hairs, the elevation information of detection object.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the vision laser locating apparatus for mechanical actuating mechanism of the invention.
Fig. 2 is that the vision laser locating apparatus for mechanical actuating mechanism of the invention is mounted on material transferring platform
Embodiment schematic diagram.
Specific embodiment
Below with reference to the given attached drawing of the present invention and specific example, the present invention is further explained, it should be understood that these embodiments
It is only illustrative of the invention and is not intended to limit the scope of the invention, based on the embodiment of the present invention, ordinary skill people
Member's every other embodiment obtained under the premise of no creative work.Belong to protection scope of the present invention.
A kind of vision laser locating apparatus for mechanical actuating mechanism, including locating rack 1,2 and of cross laser detector
Visual sensor 3, one end that the visual sensor 3 is mounted on locating rack 1 and camera lens vertically downward, the cross laser detection
The other end that device 2 is mounted on locating rack 1 is oblique, and the cross positioning projection line of the cross laser detector 2 is located at vision
Below the camera lens of sensor 3；The locating rack 1 is mountable on material transferring platform；The locating rack 1 is mountable to be held in machinery
In row mechanism.
A kind of localization method of the vision laser locating apparatus for mechanical actuating mechanism, includes the following steps:
Step 1: the cross positioning projection line of cross laser detector 2 is first projected to the surface of object to be measured, detection ten
Field positions of the longitudinal and transverse line of word positioning projection line in visual sensor 3；
Step 2: the calibration object of known length, width and height size is placed in the field of detection of visual sensor 3, adjustment ten
The focusing length and width of word laser detector 2, so that the longitudinal and transverse wire length of cross positioning projection line is wider than standard item；
Step 3: the longitudinal and transverse line of the sending of cross laser detector 2 under the height is demarcated in the visual field of visual sensor 3
Position, and under the length and width of the calibration object cross positioning projection line longitudinal and transverse line visual sensor 3 field of detection
In length and width；
Step 4: object to be grabbed, which is placed and moved to below locating rack 1, and is located at calibration object places the first of detection
Beginning position position, shooting grab the image in cross hairs and its and object edge crosspoint information, processing crawl image in ten
The mobile message of wordline is converted to object dimensional information, and sends mechanical actuating mechanism to and grabbed.
As shown in Fig. 2, whole system includes mechanical arm and its executive control system by taking six shaft mechanical arms as an example, vision swashs
Light-seeking device detects the material transferring platform composition of crawl.Wherein, vision laser locating apparatus includes for Image Acquisition
Visual sensor, the cross laser detector for sending active light and installation locating rack.
Vision laser locating apparatus can be both installed on above the object of detection to be grabbed in figure, can also be installed on machinery
On arm, for being installed on above the object of detection to be grabbed, mechanical arm and the installation of vision laser positioning component are grabbed in detection
It taking in support platform, the cross laser locator in vision laser positioning component and visual sensor are in certain setting angle,
And it is installed on the top of testee, testee is placed in detection crawl support platform, as shown in Figure 1.
The detection and localization schematic diagram of vision laser locator shown in Fig. 1, the visual sensor in vision laser positioning component are put
It being placed in right above object, cross laser detector is then placed in the oblique upper of object and certain angle is presented in visual sensor,
When object is mobile or is placed in below the component, into visual sensor visual field, meanwhile, the positioning light of cross laser detector
Line is projeced into above the object under test, due to the projection light of cross laser detector all have in horizontal and vertical line it is certain oblique
To angle, line style segmentation and alternate position spike will be generated by difference in height on a different plane, it can be according to triangle edges angle formula meter
Difference in height size caused by alternate position spike is calculated, so that the object height difference information is obtained, equally in detection crawl support and view
In the case where feeling that sensor distance is fixed, can also by the position with the intersection point at regular edge in visual field in cross hairs,
Obtain each marginal point elevation information (demarcating by field positions), if the measuring surface is parallel with the supporting plane of calibration, then ten
Wordline can all around be deviated in visual field due to difference in height, and length and width are identical as calibration, highly be calculated by offset, and if it is
Chamfer length, width and slope information then pass through the dimension information that two-end-point offset difference in visual field is converted into inclined-plane, want above
True three-dimension solid numerical value could be obtained by demarcating supporting plane.
The present invention and its embodiments have been described above, description is not limiting, it is shown in the drawings also only
It is one of embodiments of the present invention, actual structure is not limited to this.All in all if the ordinary skill people of this field
Member is enlightened by it, without departing from the spirit of the invention, is not inventively designed similar to the technical solution
Frame mode and embodiment, be within the scope of protection of the invention.
Claims (4)
1. a kind of vision laser locating apparatus for mechanical actuating mechanism, it is characterised in that: swash including locating rack (1), cross
Photodetector (2) and visual sensor (3), the visual sensor (3) are mounted on one end of locating rack (1) and the vertical court of camera lens
Under, the other end that the cross laser detector (2) is mounted on locating rack (1) is oblique, the cross laser detector (2)
Cross positioning projection line be located at below the camera lens of visual sensor (3).
2. the vision laser locating apparatus according to claim 1 for mechanical actuating mechanism, it is characterised in that: described fixed
Position frame (1) is mountable on material transferring platform.
3. the vision laser locating apparatus according to claim 1 for mechanical actuating mechanism, it is characterised in that: described fixed
Position frame (1) is mountable on mechanical actuating mechanism.
4. a kind of localization method of the vision laser locating apparatus for mechanical actuating mechanism, it is characterised in that: including walking as follows
It is rapid:
The cross positioning projection line of cross laser detector (2): being first projected to the surface of object to be measured by step 1, detects cross
Field positions of the longitudinal and transverse line of positioning projection's line in visual sensor (3)；
Step 2: the calibration object of known length, width and height size is placed in the field of detection of visual sensor (3), adjusts cross
The focusing length and width of laser detector (2), so that the longitudinal and transverse wire length of cross positioning projection line is wider than standard item；
Step 3: the longitudinal and transverse line of cross laser detector (2) sending under the height is demarcated in the visual field of visual sensor (3)
Position, and the longitudinal and transverse line of cross positioning projection line is regarded in the detection of visual sensor (3) under the length and width of the calibration object
Length and width in；
Step 4: object to be grabbed is placed and moved to below locating rack (1) and is located at calibration object and places the initial of detection
Position position, shooting grab the image in cross hairs and its and object edge crosspoint information, processing crawl image in cross
The mobile message of line is converted to object dimensional information, and sends mechanical actuating mechanism to and grabbed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910067839.XA CN109751987A (en) | 2019-01-24 | 2019-01-24 | A kind of vision laser locating apparatus and localization method for mechanical actuating mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910067839.XA CN109751987A (en) | 2019-01-24 | 2019-01-24 | A kind of vision laser locating apparatus and localization method for mechanical actuating mechanism |
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| CN109751987A true CN109751987A (en) | 2019-05-14 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231036A (en) * | 2019-07-19 | 2019-09-13 | 广东博智林机器人有限公司 | A kind of robotic positioning device and method based on cross laser and machine vision |
| CN111197960A (en) * | 2019-12-12 | 2020-05-26 | 河南平高通用电气有限公司 | Cubical switchboard contact box detection device |
| CN113163702A (en) * | 2021-04-16 | 2021-07-23 | 浙江鸿广科技有限公司 | Chip mounter |
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| JP6006607B2 (en) * | 2012-10-16 | 2016-10-12 | 日本鋳鉄管株式会社 | Method and apparatus for engraving management code on sand mold |
| CN106767514A (en) * | 2016-12-30 | 2017-05-31 | 江苏四点灵机器人有限公司 | A kind of line laser structured light columnar object three-dimensional contour outline measuring set and method |
| CN106871814A (en) * | 2017-01-16 | 2017-06-20 | 北京聚利科技股份有限公司 | Contour outline measuring set and method |
| CN108788550A (en) * | 2018-06-27 | 2018-11-13 | 清华大学 | Detection device, the control method and device that areola welding bead is detected using detection device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102788573A (en) * | 2012-08-07 | 2012-11-21 | 深圳供电局有限公司 | Acquisition device for line-structure photo-fixation projection image |
| JP6006607B2 (en) * | 2012-10-16 | 2016-10-12 | 日本鋳鉄管株式会社 | Method and apparatus for engraving management code on sand mold |
| CN106767514A (en) * | 2016-12-30 | 2017-05-31 | 江苏四点灵机器人有限公司 | A kind of line laser structured light columnar object three-dimensional contour outline measuring set and method |
| CN106871814A (en) * | 2017-01-16 | 2017-06-20 | 北京聚利科技股份有限公司 | Contour outline measuring set and method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110231036A (en) * | 2019-07-19 | 2019-09-13 | 广东博智林机器人有限公司 | A kind of robotic positioning device and method based on cross laser and machine vision |
| CN111197960A (en) * | 2019-12-12 | 2020-05-26 | 河南平高通用电气有限公司 | Cubical switchboard contact box detection device |
| CN113163702A (en) * | 2021-04-16 | 2021-07-23 | 浙江鸿广科技有限公司 | Chip mounter |
| CN113163702B (en) * | 2021-04-16 | 2023-04-07 | 浙江鸿广科技有限公司 | Chip mounter |
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