CN113494888B

CN113494888B - Multi-degree-of-freedom and multi-view camera support and columnar equipment gap visual detection device

Info

Publication number: CN113494888B
Application number: CN202111041740.6A
Authority: CN
Inventors: 刘聪; 王禹; 曲佳佳; 李晶; 李春喜
Original assignee: Business Intelligence Of Oriental Nations Corp ltd
Current assignee: Business Intelligence Of Oriental Nations Corp ltd
Priority date: 2021-09-07
Filing date: 2021-09-07
Publication date: 2021-12-07
Anticipated expiration: 2041-09-07
Also published as: CN113494888A

Abstract

The invention provides a multi-degree-of-freedom and multi-view camera support and a columnar equipment gap visual detection device, wherein the multi-degree-of-freedom and multi-view camera support comprises a guide rail seat, a sliding frame seat, a linear driving mechanism and a camera seat; the guide rail seat and the camera seat are respectively arranged on the outer side of the columnar equipment and extend along the circumferential direction of the columnar equipment; the sliding frame seat is slidably arranged on the guide rail seat along the extension direction of the guide rail seat; the linear driving mechanism is connected between the sliding frame seat and the camera seat so as to drive the camera seat to move along the axial direction of the columnar equipment; the camera base is provided with a plurality of camera modules which are arranged along the extending direction of the camera base so as to drive the camera modules to move synchronously along the radial direction of the columnar equipment. The method can efficiently, quickly and synchronously acquire the gap images of the columnar equipment from multiple angles, ensures the consistency of the acquired images, is convenient for providing image sample collection support for the development of a machine vision algorithm model, is convenient for accurately measuring the gap width of the columnar equipment, and further provides a basis for the gap adjustment feedback control of the columnar equipment.

Description

Multi-degree-of-freedom and multi-view camera support and columnar equipment gap visual detection device

Technical Field

The invention relates to the technical field of visual detection, in particular to a multi-degree-of-freedom and multi-view camera support and a columnar equipment gap visual detection device.

Background

In recent years, with the wide application of machine vision technology in the traditional industry, the businesses related to the traditional industry, such as quality detection, size measurement, and the like, are gradually stepping into the upgrading and modifying process based on the machine vision technology. When the technical evaluation considers that the machine vision technology is used for replacing manual detection and has feasibility, one important link is the development of a machine vision algorithm model, a large number of image samples are needed for algorithm development, traditional industrial enterprises generally do not meet qualified images needed for algorithm development, the limited number of temporarily-shot photos generally hardly meet the algorithm development requirements, and unreasonable image acquisition facilities can also influence the operation of field technicians. In addition, the machine vision business of the traditional industrial enterprise generally needs to take the collected image as a negative sample, such as: the defects of quality defects, size abnormalities and the like are few, the image acquisition period is long, and in order to ensure the consistency of pictures in the image acquisition period, the image acquisition precision also needs to be considered.

In an application example, when a certain silicon core furnace is used for core pulling, the gap between the silicon rod and the opposite end surface of the heating plate needs to be strictly controlled, the size of the gap can influence the appearance quality of the silicon core obtained by core pulling, and the gap is unreasonable and even can cause core pulling interruption. Three observation windows which are arranged along the circumferential direction are usually arranged on a furnace shell of the silicon core furnace, and gaps between the top surface of the silicon rod which is fed in real time and the heating plate can be observed through the observation windows.

However, the size of the gap between the heating plate and the melting region at the top of the silicon rod is currently observed mainly by the naked human eye through three observation windows. When the clearance value is large, the silicon rod is manually controlled to rise quickly, and when the clearance value is small, the silicon rod is manually controlled to rise slowly. Although the observation window is provided with the optical filter, the visual fatigue is still caused to the eyes by the way of artificial naked eye observation. Meanwhile, the core pulling operation of the silicon core is a long-period operation process, manual clearance observation can be performed only through one observation window at a time, the height and the angle of the sight line of human eyes are controlled by subjective experience of people during observation, when the clearance observation is performed through different observation windows, the clearance between the heating plate and the opposite end surface of the silicon rod may change, when a plurality of observation windows of one silicon core furnace or a plurality of observation windows on a plurality of silicon core furnaces are observed simultaneously, the labor intensity of an operator is obviously increased, the size of the clearance is difficult to accurately determine, and the mode of adjusting the clearance based on manual observation can cause poor consistency of the diameter of the finally core-pulled silicon core.

Therefore, the current gap of the columnar equipment is difficult to synchronously acquire images at multiple angles, so that the size of the gap cannot be accurately determined, and the relevant control operation of the columnar equipment is adversely affected.

Disclosure of Invention

The invention provides a multi-degree-of-freedom and multi-view camera support and a columnar equipment gap visual detection device, which are used for solving the problem that multi-angle image acquisition is difficult to synchronously carry out on gaps of columnar equipment at present.

The invention provides a multi-degree-of-freedom and multi-view camera support, which comprises: the device comprises a guide rail seat, a sliding frame seat, a linear driving mechanism and a camera seat; the guide rail seat and the camera seat are respectively used for being arranged on the outer side of the columnar equipment and extending along the circumferential direction of the columnar equipment; the sliding frame seat is arranged on the guide rail seat in a sliding manner along the extending direction of the guide rail seat; one end of the linear driving mechanism is connected with the sliding frame seat, the other end of the linear driving mechanism is connected with the camera seat, and the linear driving mechanism is used for driving the camera seat to move relative to the sliding frame seat along the axial direction of the columnar equipment; the camera base is used for installing a plurality of camera modules which are arranged along the extending direction of the camera base so as to drive the camera modules to synchronously move between a first position close to the columnar equipment and a second position far away from the columnar equipment along the radial direction of the columnar equipment.

According to the multi-degree-of-freedom and multi-view camera support provided by the invention, the linear driving mechanism comprises a lead screw and a lead screw nut; a plurality of lead screws and lead screw nuts are arranged in a one-to-one correspondence manner, and the plurality of lead screws and the plurality of lead screw nuts are respectively arranged along the circumferential direction of the columnar equipment; the lead screw extends along the axial direction of the columnar equipment, one end of the lead screw is rotatably connected with the sliding frame seat, and the other end of the lead screw is in threaded connection with the lead screw nut; the lead screw nut is arranged on the camera base.

According to the multi-degree-of-freedom and multi-view camera support provided by the invention, the linear driving mechanism further comprises a first transmission gear and a first gear ring; a first guide rail groove is formed in the side face, facing the columnar equipment, of the guide rail seat, and a second guide rail groove is formed in the side face, facing away from the columnar equipment, of the guide rail seat; the first guide rail groove and the second guide rail groove are respectively arranged along the extending direction of the guide rail seat; the sliding frame seat and the first gear ring are respectively arranged in the first guide rail groove and the second guide rail groove in a sliding manner along the extension direction of the guide rail seat; first drive gear is coaxial to be located the one end of lead screw, first drive gear with first ring gear meshing, first drive gear with the lead screw is equipped with a plurality ofly one-to-one.

According to the multi-degree-of-freedom and multi-view camera support provided by the invention, the sliding frame seat comprises a body part, a hanging part and a connecting part; the body part is used for extending along the circumferential direction of the columnar equipment; the hanging part is arranged on the upper end face of the body part and extends into the first guide rail groove, and the hanging part can be connected with the first guide rail groove in a sliding mode along the extending direction of the body part; the connecting part is arranged on the outer side surface of the body part, and one end of the lead screw is rotatably connected with the connecting part; the first gear ring is connected with the second guide rail groove in a sliding mode along the extending direction of the guide rail seat; the first transmission gear is meshed with gear teeth arranged on the inner side of the first gear ring.

The invention provides a multi-degree-of-freedom and multi-view camera support, which further comprises: the first clamping piece and the second clamping piece; the first clamping piece is used for selectively clamping between the guide rail seat and the sliding frame seat; the second clamping piece is used for being selectively clamped between the sliding frame seat and the first gear ring.

According to the multi-degree-of-freedom and multi-view camera support provided by the invention, at least one of the guide rail seat, the sliding frame seat and the first gear ring is of a circular ring structure; the circular ring-shaped structure comprises a plurality of subdivision units, and the subdivision units are sequentially connected end to end along the circumferential direction of the circular ring-shaped structure.

According to the multi-degree-of-freedom and multi-view camera support provided by the invention, the camera base comprises a camera support and a plurality of linear modules; the camera support extends along the circumference of the columnar equipment; the linear module is connected with the camera bracket and is arranged along the radial direction of the columnar equipment; the plurality of linear modules are sequentially arranged at intervals along the extension direction of the camera support, and the sliding tables of the linear modules are used for installing the camera module; the plurality of linear modules are used for driving the plurality of camera modules to synchronously move between the first position and the second position along the radial direction of the columnar equipment.

According to the multi-degree-of-freedom and multi-view camera support provided by the invention, the camera base further comprises a second gear ring and a rotary driving mechanism; the second gear ring is connected with the camera bracket in a sliding mode along the extending direction of the camera bracket; the rotary driving mechanism is arranged on the camera support, and the output end of the rotary driving mechanism is meshed with the second gear ring so as to drive the second gear ring to rotate relative to the camera support; the linear module comprises a slide rail, a slide block, a transmission screw rod and a second transmission gear; the slide rail and the transmission screw rod respectively extend along the radial direction of the columnar equipment; the sliding block is slidably arranged on the sliding rail and is in threaded connection with the transmission screw rod; one end of the transmission screw rod is connected with the second transmission gear, and the second transmission gear is meshed with the second gear ring.

The invention also provides a visual detection device for the gap of the columnar equipment, which comprises the multi-degree-of-freedom and multi-view camera support and a plurality of camera modules, wherein the camera modules are respectively arranged on the camera base of the multi-degree-of-freedom and multi-view camera support, and the lenses of the camera modules face the gap on the columnar equipment so as to be used for synchronously acquiring gap images from different directions.

The visual detection device for the gap of the columnar equipment further comprises an image processing module; the image processing module is respectively in communication connection with the plurality of camera modules; the image processing module is provided with a gap width detection model, and the gap width detection model is used for receiving the input of the gap images acquired by the plurality of camera modules and outputting gap width values corresponding to the gap images; the gap width detection model is obtained by training by taking gap images synchronously acquired by the plurality of camera modules as samples and taking width measurement values of gaps marked in the samples as labels.

The invention provides a multi-degree-of-freedom and multi-view camera support and a columnar equipment gap visual detection device, which are based on a guide rail seat, a sliding frame seat, a linear driving mechanism and a camera base, wherein when annular machine visual image acquisition is carried out on a gap of columnar equipment, the guide rail seat can be fixed on the outer side of the columnar equipment along the circumferential direction, a plurality of camera modules are sequentially arranged on the camera base along the circumferential direction of the columnar equipment, and the positions of the camera modules can be synchronously adjusted based on the comprehensive adjustment effect of the sliding frame seat, the linear driving mechanism and the camera base, so that the image acquisition requirements of axial movement, radial movement and circumferential rotation of the camera modules relative to the columnar equipment are met.

Therefore, the method and the device have the advantages that the gap images of the columnar equipment can be synchronously acquired from multiple angles, the efficiency is high, the consistency of the acquired images is ensured, the image sample collection support is conveniently provided for the development of the machine vision algorithm model, the gap width of the columnar equipment is accurately measured based on the machine vision algorithm model, and the basis is further provided for the gap adjustment feedback control of the columnar equipment.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a multi-degree-of-freedom and multi-view camera support provided by the present invention;

FIG. 2 is a schematic structural view of a rail seat provided by the present invention;

FIG. 3 is a schematic structural view of the carriage base of the present invention connected to a plurality of lead screws, respectively;

FIG. 4 is a schematic structural view of a first ring gear provided in the present invention;

FIG. 5 is a schematic view of a partial structure of the rail seat, carriage seat and linear driving mechanism provided by the present invention;

FIG. 6 is a schematic structural view of a first clamping member provided in the present invention;

FIG. 7 is a schematic structural view of a second clamping member provided in the present invention;

FIG. 8 is a schematic structural diagram of a camera stand according to the present invention;

FIG. 9 is a schematic view of an installation structure of the camera bracket and the annular slide rail provided by the present invention;

FIG. 10 is a schematic structural view of a second ring gear provided in accordance with the present invention;

FIG. 11 is a schematic view of the mounting structure between the second ring gear and the annular slide rail according to the present invention;

FIG. 12 is a schematic structural diagram of a linear module according to the present invention;

FIG. 13 is a schematic structural view of a rotary drive mechanism provided by the present invention;

FIG. 14 is a schematic structural diagram of a gap visual inspection apparatus for column-shaped devices according to the present invention;

FIG. 15 is a second schematic structural view of a gap visual inspection apparatus for column-shaped equipment according to the present invention;

reference numerals: 1. a columnar device; 2. a guide rail seat; 3. a carriage base; 4. a linear drive mechanism; 5. a camera stand; 6. a card slot; 7. a first clamping member; 8. a second clamping member; 21. a first guide rail groove; 22. a second guide rail groove; 23. locking the screw rod; 31. a body portion; 32. a hanging part; 33. a connecting portion; 41. a lead screw; 42. a lead screw nut; 43. a first ring gear; 44. a first drive gear; 51. a camera support; 52. a linear module; 53. a second ring gear; 54. a rotation driving mechanism; 55. a guide groove; 56. an annular slide rail; 511. installing a flange; 521. a base; 522. a slide rail; 523. a slider; 524. a transmission screw rod; 525. a second transmission gear; 541. rotating the handle; 542. a connecting flange; 543. a third transmission gear; 100. a multi-degree-of-freedom and multi-view camera support; 200. and a camera module.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The following describes a multi-degree-of-freedom and multi-view camera support and a columnar equipment gap visual detection device according to the present invention with reference to fig. 1 to 15.

As shown in fig. 1 and 14, the present embodiment provides a multi-degree-of-freedom multi-view camera support 100, which includes: a guide rail seat 2, a sliding frame seat 3, a linear driving mechanism 4 and a camera seat 5; the guide rail seat 2 and the camera seat 5 are respectively arranged on the outer side of the columnar equipment 1 and extend along the circumferential direction of the columnar equipment 1; the sliding frame seat 3 is arranged on the guide rail seat 2 in a sliding way along the extending direction of the guide rail seat 2; one end of the linear driving mechanism 4 is connected with the sliding frame seat 3, the other end of the linear driving mechanism 4 is connected with the camera seat 5, and the linear driving mechanism 4 is used for driving the camera seat 5 to move relative to the sliding frame seat 3 along the axial direction of the columnar equipment 1; the camera stand 5 is used for mounting a plurality of camera modules 200 arranged along the extending direction thereof to drive the plurality of camera modules 200 to move synchronously between a first position close to the column apparatus 1 and a second position far away from the column apparatus 1 along the radial direction of the column apparatus 1.

Specifically, this embodiment is based on the guide rail seat 2, the carriage seat 3, the linear driving mechanism 4 and the camera seat 5 that set up, when carrying out annular machine vision image acquisition to the clearance of columnar equipment 1, can be fixed in the outside of columnar equipment 1 along circumference with guide rail seat 2, and install a plurality of camera modules 200 on camera seat 5 in proper order along the circumference of columnar equipment 1, based on the comprehensive regulation effect of carriage seat 3, linear driving mechanism 4 and camera seat 5, can carry out synchronous adjustment to the position of a plurality of camera modules 200, satisfy a plurality of camera modules 200 and carry out axial displacement, radial movement and circumferential direction's image acquisition requirement relative to columnar equipment 1.

Therefore, the multi-degree-of-freedom and multi-view camera support disclosed by the embodiment realizes multi-angle synchronous acquisition of the gap images of the columnar equipment 1, is efficient and quick, ensures the consistency of the acquired images, and is convenient for providing image sample collection support for development of a machine vision algorithm model, so that the gap width of the columnar equipment 1 is accurately measured based on the machine vision algorithm model, and further a basis is provided for gap adjustment feedback control of the columnar equipment.

It should be noted that, in order to facilitate installation and arrangement of the corresponding structure of the multi-degree-of-freedom multi-view camera support on the outer side of the columnar apparatus 1, at least one of the guide rail base 2, the carriage base 3, the first gear ring 43, and the camera base 5 shown in the present embodiment is a circular ring structure; the circular ring-shaped structure comprises a plurality of subdivision units, and the subdivision units are sequentially connected end to end along the circumferential direction of the circular ring-shaped structure. It can be understood that, in the case that multiple camera modules are required to perform image acquisition with multiple degrees of freedom, in the present embodiment, one or more of the rail base 2, the carriage base 3, the first gear ring 43, and the camera base 5 may be designed to be a circular ring structure, and the other parts of the rail base 2, the carriage base 3, the first gear ring 43, and the camera base 5 may be designed to be an arc-shaped structure, which may be a semicircular structure or a three-quarter circular structure, and is not limited specifically herein.

In the embodiment, the circular ring structure is further designed to be an assembly structure formed by a plurality of subdivision units, so that the assembly of the corresponding circular ring structure outside the columnar equipment 1 on site is facilitated, and the practicability and operability of the multi-degree-of-freedom and multi-view camera support are improved.

Meanwhile, the linear driving mechanism 4 shown in the present embodiment may be a screw rod 41 driving mechanism, an electric push rod, an air cylinder, etc. which are well known in the art, and is not particularly limited herein as long as the structure for driving the camera base 5 to move relative to the carriage base 3 along the axial direction of the column-shaped device 1 satisfies the design requirements. The camera mount 5 shown in this embodiment can be understood as having a plurality of linear driving units capable of performing synchronous motion, and the driving ends of the plurality of linear driving units are connected with the plurality of camera modules 200 in a one-to-one correspondence manner to drive the plurality of camera modules 200 to synchronously move between the first position and the second position along the radial direction of the column-shaped device 1. Here, the present embodiment sets the camera modules 200 to move synchronously in the radial direction of the column apparatus 1, respectively, so as to facilitate synchronous focusing of the respective camera modules 200 to perform acquisition of a gap image at the same radial position, thereby ensuring consistency of the acquired images.

In addition, the gap width shown in the present embodiment specifically refers to a dimension value between the opposite end faces of the gap. For example, in the case where the columnar apparatus 1 shown in the present embodiment is a silicon core furnace, since the gap between the silicon rod and the opposing end surface of the heating plate needs to be strictly controlled when the silicon core furnace performs core pulling, the gap width corresponds to the silicon core furnace and refers to the dimension value between the silicon rod and the opposing end surface of the heating plate.

As shown in fig. 1 and 2, in a preferred embodiment, the rail base 2 is a circular ring structure and is composed of three split units, at least one locking screw 23 is connected to each split unit in a threaded manner, and the locking screws 23 are arranged along the radial direction of the column-shaped device 1. Thus, after the three subdivision units are sequentially connected end to assemble the annular guide rail seat 2, the end of each locking screw 23 is abutted against the side wall of the columnar equipment 1 by adjusting the locking screw 23, so that the guide rail seat 2 can be ensured to be coaxially fixed on the outer side of the columnar equipment 1. In order to identify the angle of the camera base 5 relative to the columnar device 1 along the circumferential direction, the scale marks arranged along the circumferential direction may be disposed on the side of the rail base 2 departing from the columnar device 1.

As shown in fig. 1, 3 and 8, the linear driving mechanism 4 of the present embodiment includes a screw 41 and a screw nut 42; a plurality of screw rods 41 and screw nuts 42 are arranged in a one-to-one correspondence manner, and the plurality of screw rods 41 and the plurality of screw nuts 42 are respectively arranged along the circumferential direction of the columnar equipment 1; the screw rod 41 extends along the axial direction of the columnar equipment 1, one end of the screw rod 41 is rotatably connected with the carriage base 3, and the other end is in threaded connection with the screw rod nut 42; the lead screw nut 42 is provided to the camera stand 5.

As shown in fig. 2 and 5, in order to facilitate driving the plurality of lead screws 41 to rotate synchronously so as to control the camera base 5 to move axially stably relative to the columnar apparatus 1, the linear driving mechanism 4 shown in the present embodiment is further provided with a first transmission gear 44 and a first gear ring 43; the side of the guide rail seat 2 facing the columnar equipment 1 is provided with a first guide rail groove 21, and the side of the guide rail seat 2 departing from the columnar equipment 1 is provided with a second guide rail groove 22; the first guide rail groove 21 and the second guide rail groove 22 are respectively arranged along the extending direction of the guide rail seat 2; the sliding frame base 3 and the first gear ring 43 are respectively arranged in the first guide rail groove 21 and the second guide rail groove 22 in a sliding manner along the extension direction of the guide rail base 2; the first transmission gears 44 are coaxially arranged at one end of the screw rod 41, the first transmission gears 44 are meshed with the first gear ring 43, and the first transmission gears 44 are arranged in a plurality of positions one by one opposite to the screw rod 41.

Specifically, since the first gear ring 43 is engaged with the plurality of first transmission gears 44 at the same time, and the first transmission gears 44 are disposed at one end of the lead screw 41 in a one-to-one correspondence manner, when the first gear ring 43 is driven to rotate, the plurality of first transmission gears 44 can be driven to rotate synchronously at the same time, and the plurality of lead screws 41 can rotate synchronously with the corresponding first transmission gears 44. Since the other end of each lead screw 41 is in one-to-one threaded connection with a lead screw nut 42 provided on the camera base 5, the camera base 5 can be driven to move in the axial direction of the column-shaped device 1 relative to the carriage base 3 based on the transmission function between the lead screws 41 and the lead screw nuts 42.

Here, in order to ensure the reliability of the rotational connection between one end of the screw 41 and the carriage base 3, the screw 41 shown in the present embodiment includes a screw portion and a round rod portion, one end of the screw portion is connected to one end of the round rod portion, a shoulder is provided in the middle of the round rod portion, and the diameter of the shoulder is larger than that of the round rod portion except for the shoulder. Be equipped with oil-free thrust bushing at balladeur train seat 3, the one end that the pole portion of circle is close to the pole portion is rotationally cartridge in oil-free thrust bushing, and the one end that the shaft shoulder is close to the pole portion of silk and oil-free thrust bushing's relative terminal surface looks butt, and the pole portion was kept away from to the pole portion of circle one end and first drive gear 44 pass through key coaxial coupling.

As shown in fig. 3, the carriage base 3 of the present embodiment includes a main body 31, a hanging part 32, and a connecting part 33; the body 31 is configured to extend along the circumferential direction of the columnar apparatus 1, and the body 31 is composed of three split units, and the three split units are sequentially connected end to form the annular body 31.

Meanwhile, the hanging parts 32 shown in this embodiment are provided on the upper end surface of the body part 31, the hanging parts 32 are sheet-shaped, the hanging parts 32 are sequentially provided at intervals along the circumferential direction of the body part 31 and can respectively extend into the first guide rail grooves 21, and the hanging parts 32 can be slidably connected with the first guide rail grooves 21 along the extending direction of the body part 31.

As shown in fig. 3, the connection portion 33 of the present embodiment is provided on the outer surface of the body portion 31, and one end of the screw 41 is rotatably connected to an oil-free thrust bush provided on the connection portion 33.

As shown in fig. 4, a plurality of engaging grooves 6 are provided at intervals in the circumferential direction of the first ring gear 43, one groove wall of the engaging groove 6 is connected to the first ring gear 43, and the other groove of the engaging groove 6 is provided in a wall-mounted manner in the second rail groove 22. In this way, the first gear ring 43 shown in this embodiment can be slidably connected to the second rail groove 22 along the extending direction of the rail seat 2 based on the plurality of clamping grooves 6, so that the first gear ring 43 can rotate relative to the rail seat 2 under the guidance of the second rail groove 22.

Meanwhile, in order to ensure the compactness of the fitting structure of the rail base 2, the carriage base 3, and the first ring gear 43, the first transmission gear 44 is provided to mesh with the gear teeth provided inside the first ring gear 43.

Further, the present embodiment is further provided with a first clamping member 7 and a second clamping member 8.

As shown in fig. 1 and 6, when it is required to control the camera base 5 to move along the axial direction of the column-shaped device 1, the present embodiment can selectively clamp the first clamping member 7 between the rail base 2 and the carriage base 3. In this way, when the first gear ring 43 is driven to rotate, each first transmission gear 44 can be controlled by the first gear ring 43 to synchronously rotate on the carriage base 3, and since the first transmission gear 44 drives the corresponding lead screw 41 to rotate when rotating, the camera base 5 can be driven to move relative to the carriage base 3 along the axial direction of the columnar device 1 based on the transmission function of the lead screw 41 and the lead screw nut 42.

As shown in fig. 1 and 7, when it is required to control the camera base 5 to rotate along the circumferential direction of the column-shaped device 1, the second clamping member 8 can be selectively clamped between the carriage base 3 and the first ring gear 43 in the present embodiment. Since the carriage base 3 and the first gear ring 43 are kept in a relatively static state, when the carriage base 3 and the first gear ring 43 are driven to rotate relative to the rail base 2, the camera base 5 can be correspondingly driven to rotate relative to the carriage base 3 along the circumferential direction of the columnar device 1.

As shown in fig. 8 to 11, the camera mount 5 of the present embodiment includes a camera support 51 and a plurality of linear modules 52; the camera mount 51 extends in the circumferential direction of the columnar apparatus 1; the linear module 52 is connected with the camera bracket 51 and arranged along the radial direction of the columnar equipment 1; the plurality of linear modules 52 are sequentially arranged at intervals along the extension direction of the camera bracket 51, and a sliding table of the linear module 52 is used for installing the camera module 200; the plurality of linear modules 52 are configured to drive the plurality of camera modules 200 to move synchronously between the first position and the second position along the radial direction of the column-shaped apparatus 1.

Further, in order to facilitate control of synchronism of the movement of the plurality of image pickup modules 200 between the first position and the second position, the camera mount 5 shown in the present embodiment is further provided with a second ring gear 53 and a rotation driving mechanism 54; the second ring gear 53 is slidably connected with the camera bracket 51 along the extending direction of the camera bracket 51, so that the second ring gear 53 is rotatably arranged on the camera bracket 51 and can rotate along the extending direction of the camera bracket 51; the rotation driving mechanism 54 is provided on the camera support 51, and an output end of the rotation driving mechanism 54 is engaged with the second ring gear 53 to drive the second ring gear 53 to rotate relative to the camera support 51.

Here, the second ring gear 53 shown in this embodiment has a plurality of guide grooves 55 arranged along its circumferential direction on its outer side, and an annular slide rail 56 is fitted in the guide grooves 55. The camera bracket 51 shown in this embodiment is coaxially connected to the annular slide rail 56, so that the second ring gear 53 can be rotatably provided on the camera bracket 51 along the extending direction of the camera bracket 51. For the convenience of assembly, the camera bracket 51, the annular slide rail 56 and the second ring gear 53 are correspondingly formed by sequentially connecting a plurality of split units end to end.

Meanwhile, in order to facilitate the installation of the linear module 52, the camera bracket 51 shown in this embodiment is provided with a plurality of mounting flanges 511 arranged along the circumferential direction thereof, and one end of the linear module 52 is connected to the mounting flanges 511. Moreover, the lead screw nut 42 shown in the present embodiment is provided on the camera mount 51, and the plurality of lead screw nuts 42 are arranged at equal intervals along the circumferential direction of the camera mount 51.

As shown in fig. 12, the linear module 52 of the present embodiment includes a base 521, a slide rail 522, a slider 523, a transmission screw 524, and a second transmission gear 525; the slide rail 522 and the driving screw 524 are respectively arranged on the base 521 and extend along the radial direction of the columnar device 1; the sliding block 523 is slidably arranged on the sliding rail 522 and is in threaded connection with the transmission screw 524; one end of the transmission screw 524 is connected with a second transmission gear 525, and the second transmission gear 525 is engaged with the second gear ring 53.

Here, in order to facilitate driving of the rotation of the second ring gear 53, the rotary drive mechanism 54 shown in the present embodiment is provided as a manual drive mechanism. The rotation driving mechanism 54 may include a servo motor capable of driving the second ring gear 53 to rotate.

As shown in fig. 13, the rotary drive mechanism 54 includes a rotary handle 541, a connecting flange 542, and a third transmission gear 543. The connecting flange 542 shown in this embodiment is connected to one of the mounting flanges 511 of the camera bracket 51, one end of the rotary handle 541 is rotatably disposed on the connecting flange 542, and after passing through the mounting flange 511 corresponding to the connecting flange 542, one end of the rotary handle 541 is coaxially connected to the third transmission gear 543, and the third transmission gear 543 is meshed with the second gear ring 53.

Thus, when the operator manually rotates the rotating handle 541, the second gear ring 53 can be driven to rotate by the third gear 543, and the second gear ring 53 can drive the second gear 525 on the plurality of linear modules 52 to synchronously rotate, so that the camera module 200 on each linear module 52 can be driven to synchronously move between the first position close to the cylindrical device 1 and the second position far away from the cylindrical device 1 by adjusting the rotating handle 541. Here, in the present embodiment, by controlling the rotation direction of the rotating handle 541, the moving direction of each camera module 200 can be synchronously controlled accordingly.

As shown in fig. 14 and 15, in practical applications, the present invention will be specifically described with reference to a silicon core furnace having a columnar structure as an example, where the multi-degree-of-freedom and multi-view camera support is shown in this embodiment.

When the silicon core furnace is used for core pulling, the gap between the silicon rod and the opposite end surface of the heating plate needs to be strictly controlled, the size of the gap can influence the appearance quality of the silicon core obtained by core pulling, and the gap is unreasonable and even can cause core pulling interruption. In order to keep a reasonable gap, the method adopted at present is to observe the size of the gap between the heating plate in the silicon core furnace and the melting area at the top of the silicon rod by observing through three observation windows by naked eyes, when the gap value is large, the silicon rod is manually adjusted to rise quickly, and when the gap value is small, the silicon rod is manually adjusted to rise slowly. Although the observation window is provided with the optical filter, visual fatigue can still be caused to eyes of people in a high-brightness heating scene, and the four silicon core furnaces are generally observed simultaneously by manpower, so that the labor intensity is high. Here, the method of adjusting the gap by observing the size of the gap causes the diameter of the silicon core to be finally pulled to have poor uniformity.

Therefore, a camera bracket needs to be designed to meet the requirement of synchronous image acquisition of three observation windows of the silicon core furnace. When manual observation is carried out, the camera module right in front of the observation window is required to be moved away so as to leave a space for manual observation, after the manual observation is finished, the reset camera module continues to acquire gap images, and when the core pulling is finished and the silicon rod is replaced, the furnace door of the silicon core furnace cannot be opened to bring obstacles. Therefore, the multi-degree-of-freedom and multi-view camera support disclosed by the embodiment is particularly necessary for synchronously carrying out multi-angle image acquisition on the gap in the silicon core furnace.

In this embodiment, when acquiring a gap image in the silicon core furnace, the following steps may be referred to in the assembly process of the multi-degree-of-freedom and multi-view camera mount.

Step 1, firstly, assembling a slide frame seat 3 shown in fig. 3 around a silicon core furnace; then, the rail holder 2 shown in fig. 2 is assembled around the silicon core furnace above the carriage holder 3; then, the rail housing 2 is horizontally fixed to the outer side wall of the silicon core furnace by a locking screw 23.

Step 2, assembling a second ring gear 53 shown in fig. 10 around the silicon core furnace below the carriage base 3; next, the annular slide rail 56 is assembled outside the second ring gear 53, resulting in the assembled structure shown in fig. 11; then, the ring-shaped slide rail 56 is connected to the camera mount 51 shown in fig. 9; next, the linear module 52 shown in fig. 12 is attached to each of the attachment flanges 511 of the camera mount 51, and the rotational driving mechanism 54 shown in fig. 13 is attached to one of the attachment flanges 511 of the camera mount 51, thereby obtaining the camera mount 5 shown in fig. 8. When each linear module 52 is installed, the sliding table of each linear module 52 is ensured to be at the same radial position relative to the silicon core furnace, so as to ensure the consistency of the lens positions of each camera module 200.

And 3, lifting the camera base 5, respectively connecting the screw rods 41 with the screw nuts 42 on the camera support 51 in a one-to-one correspondence manner in a manual screwing manner, and ensuring that the camera base 5 is in a horizontal state, wherein at this time, the connection of the camera base 5 and the sliding frame base 3 is completed.

And 4, finally assembling the first gear ring 43 shown in the figure 4 on the guide rail seat 2 shown in the figure 2, and ensuring that the first gear ring 43 is meshed with the first transmission gear 44.

Thus, through the operations of step 1 to step 4, the multi-degree-of-freedom and multi-view camera support shown in fig. 14 is obtained. Fig. 15 is a schematic top view of fig. 14.

Here, when the circumferential angle of the camera module 200 around the silicon core furnace needs to be adjusted, the second clamping member 8 can be clamped between the carriage base 3 and the first ring gear 43, so that the camera base 5 rotates around the circumference of the silicon core furnace, and the requirement that the camera module 200 rotates around the silicon core furnace when shooting images is met. When the height position of the camera module 200 needs to be adjusted, the first clamping piece 7 can be clamped between the guide rail seat 2 and the sliding frame seat 3, the first gear ring 43 is shifted to rotate, and the three lead screws 41 can be controlled to synchronously rotate based on the gear linkage effect between the first gear ring 43 and the first transmission gear 44, so that the camera base 5 is controlled to ascend or descend, and the requirement that the camera module 200 axially moves along the silicon core furnace is met. When the radial position of the camera module 200 needs to be adjusted, the second gear ring 53 can be driven to rotate by rotating the rotating handle 541, and the second gear ring 53 can simultaneously drive the second transmission gears 525 on each linear module 52 to synchronously rotate when rotating, so that each camera module 200 can synchronously move along the radial direction of the silicon core furnace under the driving of the sliding table of the linear module 52.

It should be noted that when the furnace door of the silicon core furnace needs to be opened and the silicon rod needs to be replaced, only the camera base 5 needs to be controlled to ascend to the upper part of the furnace door of the silicon core furnace, an avoiding space can be provided for opening the furnace door, and after the silicon rod is replaced, the height of the camera base 5 only needs to be adaptively adjusted according to the position of the observation window on the silicon core furnace.

Preferably, the present embodiment further provides a visual gap detection apparatus for a column-shaped device, including the above-mentioned multi-degree-of-freedom and multi-view camera bracket and a plurality of camera modules, where the plurality of camera modules are respectively disposed on a camera mount of the multi-degree-of-freedom and multi-view camera bracket, and lenses of the plurality of camera modules all face gaps on the column-shaped device, so as to be used for synchronously acquiring gap images from different directions. The camera module may be an industrial camera known in the art.

Specifically, since the multi-degree-of-freedom and multi-view camera bracket shown in the above embodiment is adopted in the gap visual detection apparatus for columnar equipment shown in this embodiment, this embodiment includes all technical solutions of the above embodiment, and at least has all beneficial effects brought by the technical solutions of the above embodiment, which is not described in detail herein.

Further, the visual inspection device for the gap between the columnar devices in the embodiment is further provided with an image processing module; the image processing module is respectively in communication connection with the plurality of camera modules; the image processing module is provided with a gap width detection model, and the gap width detection model is used for receiving the input of the gap images collected by the plurality of camera modules and outputting gap width values corresponding to the gap images.

The gap width detection model is obtained by training by taking gap images synchronously acquired by the plurality of camera modules as samples and taking width measurement values of gaps marked in the samples as labels.

It should be noted that the present embodiment may use the YOLO neural network to train the gap width detection model, perform feature recognition on the gap regions in the gap image, and extract the width values of the recognized gap regions. When model training is performed, the samples shown in this embodiment include a positive sample and a negative sample, the positive sample is a sample to be examined that includes a gap target, and the negative sample is an arbitrary picture that does not include the gap target, so that when training of the gap width detection model is performed based on the YOLO neural network, feature extraction and recognition of a gap region in a gap image are performed according to the provided samples, and a width value of the gap region can be obtained in a pixel processing manner.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A multi-degree-of-freedom and multi-view camera support is characterized by comprising:

the device comprises a guide rail seat, a sliding frame seat, a linear driving mechanism and a camera seat;

the guide rail seat and the camera seat are respectively used for being arranged on the outer side of the columnar equipment and extending along the circumferential direction of the columnar equipment;

the sliding frame seat is arranged on the guide rail seat in a sliding manner along the extending direction of the guide rail seat;

one end of the linear driving mechanism is connected with the sliding frame seat, the other end of the linear driving mechanism is connected with the camera seat, and the linear driving mechanism is used for driving the camera seat to move relative to the sliding frame seat along the axial direction of the columnar equipment;

the camera base is used for installing a plurality of camera modules which are arranged along the extending direction of the camera base so as to drive the camera modules to synchronously move between a first position close to the columnar equipment and a second position far away from the columnar equipment along the radial direction of the columnar equipment;

the linear driving mechanism comprises a lead screw and a lead screw nut; a plurality of lead screws and lead screw nuts are arranged in a one-to-one correspondence manner, and the plurality of lead screws and the plurality of lead screw nuts are respectively arranged along the circumferential direction of the columnar equipment; the lead screw extends along the axial direction of the columnar equipment, one end of the lead screw is rotatably connected with the sliding frame seat, and the other end of the lead screw is in threaded connection with the lead screw nut; the screw nut is arranged on the camera base;

the linear driving mechanism further comprises a first transmission gear and a first gear ring; a first guide rail groove is formed in the side face, facing the columnar equipment, of the guide rail seat, and a second guide rail groove is formed in the side face, facing away from the columnar equipment, of the guide rail seat; the first guide rail groove and the second guide rail groove are respectively arranged along the extending direction of the guide rail seat; the sliding frame seat and the first gear ring are respectively arranged in the first guide rail groove and the second guide rail groove in a sliding manner along the extension direction of the guide rail seat; first drive gear is coaxial to be located the one end of lead screw, first drive gear with first ring gear meshing, first drive gear with the lead screw is equipped with a plurality ofly one-to-one.

2. The multi-degree-of-freedom and multi-view camera rig of claim 1,

the sliding frame seat comprises a body part, a hanging part and a connecting part;

the body part is used for extending along the circumferential direction of the columnar equipment; the hanging part is arranged on the upper end face of the body part and extends into the first guide rail groove, and the hanging part can be connected with the first guide rail groove in a sliding mode along the extending direction of the body part;

the connecting part is arranged on the outer side surface of the body part, and one end of the lead screw is rotatably connected with the connecting part; the first gear ring is connected with the second guide rail groove in a sliding mode along the extending direction of the guide rail seat; the first transmission gear is meshed with gear teeth arranged on the inner side of the first gear ring.

3. The multi-degree-of-freedom and multi-view camera rig of claim 1,

further comprising: the first clamping piece and the second clamping piece;

the first clamping piece is used for selectively clamping between the guide rail seat and the sliding frame seat; the second clamping piece is used for being selectively clamped between the sliding frame seat and the first gear ring.

4. The multi-degree-of-freedom and multi-view camera rig of claim 1,

at least one of the guide rail seat, the sliding frame seat and the first gear ring is of a circular structure; the circular ring-shaped structure comprises a plurality of subdivision units, and the subdivision units are sequentially connected end to end along the circumferential direction of the circular ring-shaped structure.

5. The multi-degree-of-freedom and multi-view camera support according to any one of claims 1 to 4, wherein the camera mount comprises a camera support and a plurality of linear modules;

the camera support extends along the circumference of the columnar equipment; the linear module is connected with the camera bracket and is arranged along the radial direction of the columnar equipment; the plurality of linear modules are sequentially arranged at intervals along the extension direction of the camera support, and the sliding tables of the linear modules are used for installing the camera module;

the plurality of linear modules are used for driving the plurality of camera modules to synchronously move between the first position and the second position along the radial direction of the columnar equipment.

6. The multi-degree-of-freedom and multi-view camera rig of claim 5,

the camera base also comprises a second gear ring and a rotary driving mechanism;

the second gear ring is connected with the camera bracket in a sliding mode along the extending direction of the camera bracket; the rotary driving mechanism is arranged on the camera support, and the output end of the rotary driving mechanism is meshed with the second gear ring so as to drive the second gear ring to rotate relative to the camera support;

the linear module comprises a slide rail, a slide block, a transmission screw rod and a second transmission gear; the slide rail and the transmission screw rod respectively extend along the radial direction of the columnar equipment; the sliding block is slidably arranged on the sliding rail and is in threaded connection with the transmission screw rod; one end of the transmission screw rod is connected with the second transmission gear, and the second transmission gear is meshed with the second gear ring.

7. A visual inspection device for gaps of columnar equipment is characterized in that,

the multi-degree-of-freedom and multi-view camera support comprises the multi-degree-of-freedom and multi-view camera support as claimed in any one of claims 1 to 6 and a plurality of camera modules, wherein the plurality of camera modules are respectively arranged on a camera base of the multi-degree-of-freedom and multi-view camera support, and lenses of the plurality of camera modules face gaps on the columnar equipment so as to be used for synchronously acquiring gap images from different directions.

8. The visual inspection device for gaps between cylindrical apparatuses according to claim 7, further comprising an image processing module;

the image processing module is respectively in communication connection with the plurality of camera modules; the image processing module is provided with a gap width detection model, and the gap width detection model is used for receiving the input of the gap images acquired by the plurality of camera modules and outputting gap width values corresponding to the gap images;