CN113524197A - Efficient, rapid, automatic and accurate positioning device - Google Patents

Efficient, rapid, automatic and accurate positioning device Download PDF

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Publication number
CN113524197A
CN113524197A CN202110911286.9A CN202110911286A CN113524197A CN 113524197 A CN113524197 A CN 113524197A CN 202110911286 A CN202110911286 A CN 202110911286A CN 113524197 A CN113524197 A CN 113524197A
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image
workpiece
automatic
efficient
module
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CN113524197B (en
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金连洋
郑汝才
宋亚辉
骆奕兴
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SHENZHEN KINGCABLE AUTOMATION TEST CO Ltd
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SHENZHEN KINGCABLE AUTOMATION TEST CO Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention relates to the technical field of positioning, in particular to a high-efficiency, quick, automatic and accurate positioning device. It at least comprises: positioning mechanism, positioning mechanism includes the image acquisition module, the module is drawed in the tracking, image matching module and positioning control module, mechanical equipment is used for receiving positioning mechanism's positioning control signal through the serial ports, control command is required to be carried out according to the control signal, installation mechanism includes the mounting panel, the mounting panel tip is equipped with adjusting device, adjusting device includes lower connecting plate and upper junction plate, the spout has all been seted up at lower connecting plate and upper junction plate top, the inside slider tip of lower connecting plate rotates and connects the upper junction plate tip, the slider tip at upper junction plate top rotates and is connected with the commentaries on classics piece, the commentaries on classics piece top is equipped with fixed frame, fixed frame inside is equipped with positioning mechanism. The invention can accurately control mechanical equipment to carry out positioning work and is convenient to adjust the image acquisition range in all directions according to the scene.

Description

Efficient, rapid, automatic and accurate positioning device
Technical Field
The invention relates to the technical field of positioning, in particular to a high-efficiency, quick, automatic and accurate positioning device.
Background
The positioning system is an assembly or a device (component) which is formed by mutually associating and aims at determining a spatial position, however, in the industrial equipment, the equipment needs to be positioned to execute actions, and the operation can be ensured according to preset instructions, for example, a mechanical arm can accurately clamp a workpiece according to a coordinate signal transmitted by the positioning device, but the current positioning device lacks the sensing and strain capacity to the environment, and cannot accurately position the action which needs to be executed by the industrial equipment, so that the mechanical equipment has deviation in operation, the production and processing are influenced, and the application of the industrial equipment is greatly limited, in addition, when the conventional positioning device is installed, the conventional positioning device is usually fixed at one position, and is inconvenient to adjust in multiple directions according to the situation, so that the positioning is limited, and the production and processing of industrial equipment are influenced.
Disclosure of Invention
The invention aims to provide an efficient, rapid, automatic and accurate positioning device to solve the problems in the background art.
In order to achieve the above object, the present invention provides an efficient, fast, automatic and precise positioning device, which at least comprises:
the positioning mechanism comprises an image acquisition module, a tracking extraction module, an image matching module and a positioning control module, wherein the image acquisition module is used for acquiring a visual image, the tracking extraction module is used for extracting tracking image features of the image acquisition module to search a workpiece, the image matching module is used for identifying the position relation between the positioning mechanism and the workpiece according to the position of the workpiece of the tracking extraction module to determine the coordinates of the workpiece, and the positioning control module is used for issuing a control command and transmitting a signal;
the mechanical equipment is used for receiving a positioning control signal of the positioning mechanism through a serial port and executing a control instruction according to the requirement of the control signal;
when the positioning mechanism is used specifically, a visual image is collected through the image collection module, then the visual image is transmitted to the tracking extraction module to extract a workpiece in the image characteristics, then the position relation between the positioning mechanism and the workpiece is identified through the image matching module, information is transmitted to the positioning control module to issue a control command, and a signal is transmitted to the mechanical equipment to execute the control command, so that the positioning accuracy of the mechanical equipment is improved, and the practicability is higher.
Installation mechanism, installation mechanism includes the mounting panel, the mounting panel tip is equipped with adjusting device, adjusting device includes lower connecting plate and upper junction plate, down the connecting plate with the spout has all been seted up at the upper junction plate top, the inside slip of spout is equipped with the slider, the inside slider end of lower connecting plate rotates and connects the upper junction plate tip, the slider end rotation at upper junction plate top is connected with the commentaries on classics piece, it is equipped with fixed frame to change the piece top, fixed frame inside is equipped with positioning mechanism.
As a further improvement of the technical scheme, the bottom of the fixing frame is provided with a hinged fork, the hinged fork rotates on the outer wall of the rotating block, and the hinged fork is rotatably connected with the rotating block through a rotating shaft.
As a further improvement of the technical scheme, a cavity is formed in the fixing frame, a clamping plate is arranged in the cavity in a sliding mode, and the clamping plate is close to the bottom of the end portion and fixedly connected with a limiting spring between the bottom of the cavity inner cavity.
As a further improvement of the technical scheme, the limiting spring is fixedly connected with a fixed rod inside, a movable rod is arranged inside the fixed rod in a sliding mode, and the end portion of the movable rod stretches out of the inside of the fixed rod in a sliding mode.
As a further improvement of the technical scheme, the bottom of the clamping plate is provided with a buffer plate, the buffer plate is made of elastic rubber, and the buffer plate is fixedly connected with a buffer spring between the clamping plates.
As a further improvement of the technical scheme, the outer wall of the fixing frame is provided with a connecting fork, and a coiling rod is arranged inside the connecting fork.
As a further improvement of the technical scheme, the bottom of the sliding block is rotatably provided with a roller, the roller is tightly attached to the inner wall of the sliding groove, the top of the sliding block is in threaded connection with a screw, and the end parts of the screws are respectively rotated to the bottom of the upper connecting plate and the bottom of the rotating block.
As a further improvement of the technical scheme, the image acquisition module adopts a camera, and the tracking extraction module adopts a feature extraction algorithm.
As a further improvement of the technical solution, the image matching module adopts a region matching algorithm, and includes the following steps:
the workpiece features are used as template images, and corresponding point fields with the same characteristics are searched in the visual images;
matching and comparing the workpiece features of the template image with the features in the visual image;
the matching degree calculation formula is as follows:
Figure BDA0003203705840000031
wherein D is a matching degree value, K (i, j) is a template image coordinate point, and Sk(i, j) is the coordinate point of the visual image, w is the image size;
and calculating the coordinates of the workpiece by adopting an image coordinate conversion algorithm.
As a further improvement of the technical solution, the calculation formula of the image coordinate conversion algorithm is as follows:
Figure BDA0003203705840000032
wherein (X ', Y ', Z ') is the actual coordinate of the workpiece, (X, Y, Z) is the world coordinate of the workpiece visual image, both Δ X and Δ Y are the offset of the image center, and M is the coordinate conversion parameter of the camera and the end of the mechanical equipment (200).
Compared with the prior art, the invention has the beneficial effects that:
1. in this high-efficient quick automatic accurate positioner, gather the visual image through the image acquisition module, then transmit to the work piece that the tracking extracted the module and draw in the image characteristic, then through the position relation transmission information of image matching module discernment positioning mechanism and work piece to positioning control module issue control command, the control command execution that carries on in transmission signal to the mechanical equipment is favorable to improving the precision of mechanical equipment location, and the practicality is stronger.
2. In this high-efficient quick automatic accurate positioner, for the position of supporting positioning mechanism in the convenience of diversified regulation, make connecting plate tip slide at the upper junction plate top down through the slider, can change the fore-and-aft distance to the mounting panel, can adjust the vertical position of fixed frame inside positioning mechanism, the commentaries on classics piece passes through the slider and slides at the upper junction plate top, can change the commentaries on classics piece to the distance about the mounting panel, can adjust the horizontal position of fixed frame inside positioning mechanism to realize diversified purpose of adjusting.
3. In this high-efficient quick automatic accurate positioner, for the angle of convenient adjustment positioning mechanism, through connecting plate tip rotation at the upper junction plate top down, the commentaries on classics piece passes through the slider and rotates at the upper junction plate top, conveniently twists reverse positioning mechanism's angle, the angle of location is conveniently adjusted according to actual conditions.
4. In this high-efficient quick automatic accurate positioner, in order to save installation mechanism's occupation space when not using, through sliding the upper junction plate to the tip that the mounting panel was kept away from to lower connecting plate, then rotate supreme connecting plate and lower connecting plate pile together, can save occupation space, convenient follow-up portable.
5. In this high-efficient quick automatic accurate positioner, through putting positioning mechanism in the inside pinch-off blades bottom of cavity, under the spring action of spacing spring reconversion, drive pinch-off blades and extrude positioning mechanism downwards, can be with the effectual fixing of positioning mechanism inside the cavity, when dismantling, only need lift up the pinch-off blades and take off positioning mechanism, convenient operation, the follow-up maintenance of being convenient for is changed.
6. In this high-efficient quick automatic accurate positioner, slide when the spout is inside through the slider, make the gyro wheel roll along the spout inner wall, can reduce the frictional resistance between slider and the spout, make the removal lighter, and conveniently dismantle the slider and maintain.
Drawings
FIG. 1 is a schematic diagram showing the overall structure of embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a positioning mechanism according to embodiment 1 of the present invention;
FIG. 3 is a schematic view of a positioning mechanism according to embodiment 1 of the present invention;
FIG. 4 is a schematic structural view of a mounting mechanism according to embodiment 1 of the present invention;
FIG. 5 is an exploded view of the adjusting device of embodiment 1 of the present invention;
FIG. 6 is a schematic diagram showing a structural change of an adjusting device in embodiment 1 of the present invention;
fig. 7 is an exploded view of a fixing frame according to embodiment 2 of the present invention;
fig. 8 is an exploded view of a clamping plate according to embodiment 2 of the present invention;
fig. 9 is an exploded view of a spacing spring according to embodiment 2 of the present invention;
FIG. 10 is a schematic view of a buffer plate according to embodiment 2 of the present invention;
fig. 11 is a schematic structural view of a winding rod in embodiment 2 of the present invention;
FIG. 12 is an exploded view of a slider structure according to embodiment 2 of the present invention;
fig. 13 is a schematic structural diagram of a tracking and early warning algorithm in embodiment 3 of the present invention.
The various reference numbers in the figures mean:
100. a positioning mechanism;
200. a mechanical device;
300. an installation mechanism; 310. mounting a plate; 320. an adjustment device; 321. a lower connecting plate; 3210. a chute; 322. an upper connecting plate; 323. a slider; 3231. a roller; 3232. a screw; 324. rotating the block; 330. a fixing frame; 331. a cavity; 332. a clamping plate; 3321. a limiting spring; 3322. fixing the rod; 3323. a movable rod; 3324. a buffer plate; 3325. a buffer spring; 333. a hinged fork; 334. a connecting fork; 3340. and (5) winding the rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Example 1
Referring to fig. 1-6, the present embodiment provides an efficient, fast, automatic and precise positioning apparatus, which at least includes:
the positioning mechanism 100 comprises an image acquisition module, a tracking extraction module, an image matching module and a positioning control module, wherein the image acquisition module is used for acquiring a visual image, the tracking extraction module is used for extracting tracking image features of the image acquisition module to search a workpiece, the image matching module is used for identifying the position relation between the positioning mechanism 100 and the workpiece according to the position of the workpiece of the tracking extraction module to determine the coordinates of the workpiece, and the positioning control module is used for issuing a control instruction and transmitting a signal;
the mechanical equipment 200 is used for receiving the positioning control signal of the positioning mechanism 100 through a serial port and executing a control instruction according to the requirement of the control signal;
when the positioning mechanism 100 is used specifically, a visual image is collected through the image collection module, then the visual image is transmitted to the tracking extraction module to extract a workpiece in the image characteristics, then the position relation between the positioning mechanism 100 and the workpiece is identified through the image matching module, information is transmitted to the positioning control module to issue a control command, and a signal is transmitted to the mechanical equipment 200 to execute the control command, so that the positioning accuracy of the mechanical equipment 200 is improved, and the practicability is higher.
Specifically, for example, a robot arm punches a workpiece, an image acquisition module acquires visual images around the workpiece and the robot arm, then the tracking and extraction module determines the characteristics of the workpiece to be punched, an area to be punched is searched, so that the workpiece is offset and overturned in real-time identification, subsequent execution failure is caused, the workpiece is extracted to be punched and then is transmitted to an image matching module to identify the position relationship between a positioning mechanism 100 and the workpiece, coordinates of a punching position are obtained, a signal is transmitted to a control module in a mechanical device 200 only when the positioning control module issues a control instruction, the execution robot arm moves above the punching position of the workpiece, and a punching instruction is output.
Specifically, the image acquisition module adopts a camera, the camera consists of a single camera and a computer including an image acquisition card and is responsible for acquiring visual images, so that the workpiece can completely appear in the images of the camera, and the tracking extraction module adopts a feature extraction algorithm.
In order to ensure more accurate image matching, the image matching module adopts a region matching algorithm and comprises the following steps:
the workpiece features are used as template images, and corresponding point fields with the same characteristics are searched in the visual images;
matching and comparing workpiece features of the template image with features in the visual image so as to realize matching of the two images, wherein an element to be matched is an image window with a fixed size, a similarity criterion is correlation measurement between the windows in the two images, and when the element in the search area maximizes the similarity criterion, the element is considered to be matched;
the matching degree calculation formula is as follows:
Figure BDA0003203705840000061
wherein D is a matching degree value, Ki, j is a template image coordinate point, Ski, j are coordinate points of the visual image, and w is the image size;
and calculating the coordinates of the workpiece by adopting an image coordinate conversion algorithm.
In order to obtain the coordinates of the workpiece, the image coordinate conversion algorithm has the following calculation formula:
Figure BDA0003203705840000062
wherein, X ', Y ', Z ' are actual coordinates of the workpiece, X, Y, Z are world coordinates of the workpiece visual image, both Δ X and Δ Y are offset of the image center, and M is a coordinate conversion parameter of the camera and the tail end of the mechanical equipment 200;
specifically, the center of a circle of a round hole on a workpiece is taken as a positioning reference of the perforating machine, and the positioning of the perforating machine is finished when the center of the circle coincides with the center of the visual image;
calibrating a camera to obtain a projection matrix, namely a conversion relation between the distance between two pixels in an image and a world coordinate system;
after the camera shoots an image, coordinates a (x, y) of the circle center in the image are obtained through feature recognition, and offset delta x and delta y between the circle center and the image center are calculated;
and (X, Y and Z) are taken as references, the world coordinates (X ', Y ' and Z ') of the tail end of the perforating machine are calculated, and the subsequent issuing of the moving instruction is facilitated to be more accurate.
The installation mechanism 300 comprises an installation plate 310, the installation mechanism 300 is fixed on a wall surface through four corners of the installation plate 310 by bolts in a threaded manner, the installation mechanism 300 is conveniently fixed, the structural integrity is ensured, the end part of the installation plate 310 is provided with an adjusting device 320, the adjusting device 320 comprises a lower connecting plate 321 and an upper connecting plate 322, the tops of the lower connecting plate 321 and the upper connecting plate 322 are both provided with a sliding chute 3210, a sliding block 323 is arranged in the sliding chute 3210 in a sliding manner, the end part of the sliding block 323 in the lower connecting plate 321 is rotatably connected with the end part of the upper connecting plate 322, the end part of the sliding block 323 at the top of the upper connecting plate 322 is rotatably connected with a rotating block 324, the front-back distance from the installation plate 310 can be changed by enabling the end part of the lower connecting plate 321 to slide at the top of the upper connecting plate 322 by the sliding block 323, so as to adjust the extending length, the rotating block 324 can slide at the top of the upper connecting plate 322 at the top of the rotating plate 322 and at the same time, so as to change the left-right distance from the rotating block 324 to the installation plate 310, therefore, the offset position can be adjusted, the fixing frame 330 is arranged at the top of the rotating block 324, the positioning mechanism 100 is arranged in the fixing frame 330, and the positioning mechanism 100 can be fixed in the fixing frame 330, so that the mounting mechanism 300 supports the positioning mechanism 100 and the structural integrity is ensured.
In order to facilitate the multi-directional adjustment of the position of the supporting and positioning mechanism 100, as shown in fig. 4-5, the slider 323 slides the end of the lower connecting plate 321 on the top of the upper connecting plate 322, so as to change the front-back distance of the mounting plate 310, and adjust the longitudinal position of the positioning mechanism 100 inside the fixing frame 330, the rotating block 324 slides on the top of the upper connecting plate 322 through the slider 323, so as to change the left-right distance from the rotating block 324 to the mounting plate 310, and adjust the transverse position of the positioning mechanism 100 inside the fixing frame 330, thereby achieving the multi-directional adjustment;
in order to adjust the angle of the positioning mechanism 100 conveniently, the end of the lower connecting plate 321 rotates at the top of the upper connecting plate 322, and the rotating block 324 rotates at the top of the upper connecting plate 322 through the sliding block 323, so that the angle of the positioning mechanism 100 is convenient to twist, and the positioning angle is convenient to adjust according to actual conditions;
in order to save the occupied space of the mounting mechanism 300 when not in use, as shown in fig. 6 in particular, the upper connecting plate 322 is slid to the end of the lower connecting plate 321 away from the mounting plate 310 and then rotated to stack the upper connecting plate 322 and the lower connecting plate 321 together, so that the occupied space can be saved and the mounting mechanism is convenient to carry subsequently.
In order to further save the occupied space, the bottom of the fixed frame 330 is provided with the hinge fork 333, the hinge fork 333 is rotated on the outer wall of the rotating block 324, and the hinge fork 333 is rotatably connected with the rotating block 324 through the rotating shaft, so that the fixed frame 330 can be rotated, the offset angle of the positioning mechanism 100 can be conveniently adjusted, and meanwhile, when the fixed frame 330 is not used, the fixed frame 330 can be rotated and stacked on the top of the upper connecting plate 322, so that the occupied space is further saved.
Example 2
In order to improve the functionality and the practicability of the installation mechanism 300, the embodiment is different from the embodiment 1, please refer to fig. 7-12, wherein:
in order to facilitate the installation and the disassembly of the positioning mechanism 100, a cavity 331 is formed in the fixing frame 330, a clamping plate 332 is slidably arranged in the cavity 331, a limiting spring 3321 is fixedly connected between the bottom of the end portion of the clamping plate 332 and the bottom of the inner cavity of the cavity 331, the clamping plate 332 can be lifted upwards, the limiting spring 3321 is stretched, then the positioning mechanism 100 is placed at the bottom of the clamping plate 332 in the cavity 331, the clamping plate 332 is driven to downwards extrude the positioning mechanism 100 under the elastic action of the limiting spring 3321 restoring to the original state, the positioning mechanism 100 can be effectively fixed in the cavity 331, and when the positioning mechanism 100 is disassembled, the clamping plate 332 is only required to be lifted to be taken down, so that the positioning mechanism 100 is convenient to operate and convenient to maintain and replace.
In order to avoid the distortion damage of spacing spring 3321, the inside fixedly connected with dead lever 3322 of spacing spring 3321, the inside slip of dead lever 3322 is equipped with movable rod 3323, the movable rod 3323 tip slides inside stretching out dead lever 3322, and the tip of the spacing spring 3321 of fixed connection, can be when spacing spring 3321 compression or tensile, it slides inside dead lever 3322 to drive movable rod 3323 tip, can make spacing spring 3321 compress or tensile along the gliding direction of movable rod 3323, avoid the distortion damage.
In order to buffer the abrasion of rigid extrusion to the outer wall of the positioning mechanism 100 under the elastic force of the buffer spring 3325, the buffer plate 3324 is arranged at the bottom of the clamping plate 332, the buffer plate 3324 is made of elastic rubber and has good wear-resisting and corrosion-resisting properties, the buffer spring 3325 is fixedly connected between the buffer plate 3324 and the clamping plate 332, and the elastic force of the buffer spring 3325 is sufficient, so that the buffer plate 3324 firstly contacts the positioning mechanism 100 when the clamping plate 332 clamps the positioning mechanism 100, the friction resistance between the buffer plate 3324 and the positioning mechanism 100 is increased, the slipping is avoided, meanwhile, the buffer spring 3325 is compressed, and the abrasion of the rigid extrusion to the outer wall of the positioning mechanism 100 is buffered under the elastic force of the buffer spring 3325.
In order to arrange the electric wires conveniently, the outer wall of the fixing frame 330 is provided with a connecting fork 334, a winding rod 3340 is arranged inside the connecting fork 334, the electric wires connected with the positioning mechanism 100 can be wound on the outer wall of the winding rod 3340, the electric wires are conveniently arranged, and knotting damage is avoided.
In order to reduce the frictional resistance between the sliding block 323 and the sliding groove 3210, the bottom of the sliding block 323 is rotatably provided with a roller 3231, the roller 3231 is tightly attached to the inner wall of the sliding groove 3210, when the sliding block 323 slides in the sliding groove 3210, the roller 3231 rolls along the inner wall of the sliding groove 3210, the frictional resistance between the sliding block 323 and the sliding groove 3210 can be reduced, the sliding movement is easier, the top of the sliding block 323 is in threaded connection with a screw 3232, the ends of the two screws 3232 are respectively rotated at the bottom of the upper connecting plate 322 and the bottom of the rotating block 324, the screws 3232 can be rotated, the screws 3232 slide out along the threads of the inner wall of the sliding block 323, the upper connecting plate 322 and the sliding block 323 can be conveniently detached, and the rotating block 324 and the sliding block 323 are connected, so as to facilitate subsequent maintenance and replacement.
Example 3
In order to remind the worker when the position of the workpiece is dislocated, as shown in fig. 13, a tracking and early warning algorithm is arranged inside the tracking and extracting module, and the method comprises the following steps:
extracting tracking image characteristics, namely workpiece state characteristics, judging whether the workpiece has deviation, turnover and the like, and conveniently and accurately identifying the characteristics of the workpiece;
when the workpiece characteristics are successfully identified, transmitting a signal, and sending an early warning signal to control the mechanical equipment 200 to stop working after the workpiece characteristics are failed to be identified;
specifically, the early warning signal can be an audible and visual alarm and a voice alarm;
when the audible and visual alarm receives abnormal data, the audible and visual alarm controls the alarm controller to start and send out a strong audible and visual alarm signal so as to achieve the aim of reminding field personnel of paying attention, the audible and visual alarm utilizes a sound effect chip to be amplified by a triode and a transformer so as to push a loudspeaker to make a sound, and a timing circuit is adopted to control the ultra-bright light emitting diode to send out a flashing light signal;
the built-in audible alarm device horn has an alarm function, eight kinds of sound information are stored, and the built-in audible alarm device emits preset sound to warn others when receiving abnormal data.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. The utility model provides a high-efficient quick automatic accurate positioner which characterized in that includes at least:
the positioning mechanism (100) comprises an image acquisition module, a tracking extraction module, an image matching module and a positioning control module, wherein the image acquisition module is used for acquiring a visual image, the tracking extraction module is used for extracting tracking image features of the image acquisition module to find a workpiece, the image matching module is used for identifying the position relation between the positioning mechanism (100) and the workpiece according to the position of the workpiece of the tracking extraction module to determine the coordinates of the workpiece, and the positioning control module is used for issuing a control command and transmitting a signal;
the mechanical equipment (200) is used for receiving a positioning control signal of the positioning mechanism (100) through a serial port, and executing a control instruction according to the control signal requirement;
installation mechanism (300), installation mechanism (300) includes mounting panel (310), mounting panel (310) tip is equipped with adjusting device (320), adjusting device (320) are including lower connecting plate (321) and upper junction plate (322), lower connecting plate (321) with spout (3210) have all been seted up at upper junction plate (322) top, spout (3210) inside slip is equipped with slider (323), slider (323) tip rotation connection inside lower connecting plate (321) upper junction plate (322) tip, slider (323) tip rotation at upper junction plate (322) top is connected with commentaries on classics piece (324), commentaries on classics piece (324) top is equipped with fixed frame (330), fixed frame (330) inside positioning mechanism (100) that are equipped with.
2. An efficient, rapid, automatic and accurate positioning device according to claim 1, characterized in that: the bottom of the fixed frame (330) is provided with a hinged fork (333), the hinged fork (333) rotates on the outer wall of the rotating block (324), and the hinged fork (333) is rotatably connected with the rotating block (324) through a rotating shaft.
3. An efficient, rapid, automatic and accurate positioning device according to claim 1, characterized in that: fixed frame (330) inside cavity (331) of having seted up, the inside slip of cavity (331) is equipped with clamp plate (332), clamp plate (332) be close to the bottom of tip with between cavity (331) the inner chamber bottom fixedly connected with spacing spring (3321).
4. An efficient, fast, automatic and accurate positioning device according to claim 3, characterized in that: the utility model discloses a spacing spring (3321) inside fixedly connected with dead lever (3322), the inside slip of dead lever (3322) is equipped with movable rod (3323), movable rod (3323) tip slides and stretches out inside dead lever (3322).
5. An efficient, fast, automatic and accurate positioning device according to claim 4, characterized in that: the clamp plate (332) bottom is equipped with buffer board (3324), buffer board (3324) adopt the elastic rubber material, buffer board (3324) with fixedly connected with buffer spring (3325) between clamp plate (332).
6. An efficient, rapid, automatic and accurate positioning device according to claim 1, characterized in that: the outer wall of the fixing frame (330) is provided with a connecting fork (334), and a winding rod (3340) is arranged inside the connecting fork (334).
7. An efficient, rapid, automatic and accurate positioning device according to claim 1, characterized in that: the bottom of the sliding block (323) is rotatably provided with a roller (3231), the roller (3231) is tightly attached to the inner wall of the sliding groove (3210), the top of the sliding block (323) is in threaded connection with a screw rod (3232), and the end parts of the two screw rods (3232) are respectively rotated to the bottom of the upper connecting plate (322) and the bottom of the rotating block (324).
8. An efficient, rapid, automatic and accurate positioning device according to claim 1, characterized in that: the image acquisition module adopts a camera, and the tracking extraction module adopts a feature extraction algorithm.
9. An efficient, rapid, automatic and accurate positioning device according to claim 1, characterized in that: the image matching module adopts a region matching algorithm and comprises the following steps:
the workpiece features are used as template images, and corresponding point fields with the same characteristics are searched in the visual images;
matching and comparing the workpiece features of the template image with the features in the visual image;
the matching degree calculation formula is as follows:
Figure FDA0003203705830000021
wherein D is a matching degree value, K (i, j) is a template image coordinate point, and Sk(i, j) is the coordinate point of the visual image, w is the image size;
and calculating the coordinates of the workpiece by adopting an image coordinate conversion algorithm.
10. An efficient, fast, automatic and accurate positioning device according to claim 9, characterized in that: the image coordinate conversion algorithm has the following calculation formula:
Figure FDA0003203705830000022
wherein (X ', Y ', Z ') is the actual coordinate of the workpiece, (X, Y, Z) is the world coordinate of the workpiece visual image, both Δ X and Δ Y are the offset of the image center, and M is the coordinate conversion parameter of the camera and the end of the mechanical equipment (200).
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