CN113847871B - System for determining position of article by utilizing infrared light - Google Patents
System for determining position of article by utilizing infrared light Download PDFInfo
- Publication number
- CN113847871B CN113847871B CN202111139514.1A CN202111139514A CN113847871B CN 113847871 B CN113847871 B CN 113847871B CN 202111139514 A CN202111139514 A CN 202111139514A CN 113847871 B CN113847871 B CN 113847871B
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- camera
- inclined plane
- fixing plate
- infrared light
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- 230000003287 optical effect Effects 0.000 claims abstract description 26
- 238000006243 chemical reaction Methods 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000001502 supplementing effect Effects 0.000 claims abstract description 10
- 230000006835 compression Effects 0.000 claims description 36
- 238000007906 compression Methods 0.000 claims description 36
- 238000001035 drying Methods 0.000 claims description 36
- 238000007789 sealing Methods 0.000 claims description 16
- 238000003825 pressing Methods 0.000 claims description 13
- 239000002245 particle Substances 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000013589 supplement Substances 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003331 infrared imaging Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000005341 toughened glass Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005555 metalworking Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Studio Devices (AREA)
Abstract
A system for determining the position of an article by utilizing infrared light, comprising a computer, a conversion device and an optical positioning device, wherein the computer is electrically connected with the conversion device, and the optical positioning device is electrically connected with the conversion device; the optical positioning device comprises a box body, and a camera mechanism arranged in the box body, wherein the camera mechanism comprises a first camera and a second camera which are arranged at the bottom in the box body, and a first infrared light supplementing lamp and a second infrared light supplementing lamp which are arranged between the first camera and the second camera, and the first camera and the second camera are fixed at the bottom of the box body through fixing components; therefore, the position image information is acquired through the optical positioning device and is transmitted to the computer according to a certain frame frequency, and the computer analyzes the image signals acquired by the optical positioning device, so that the accurate position information of the object can be obtained.
Description
Technical Field
The invention relates to the field of target grabbing, in particular to a system for determining the position of an article by utilizing infrared light.
Background
With the development of robot technology, an object grabbing technology appears, and object grabbing has wide application in aspects of object sorting, product assembling, service adding and the like.
In the prior art, an image processing device determines the position of a target object according to the height information of a target grabbing surface of the target object; however, the accuracy of capturing the object later is caused by the fact that the position of the object cannot be obtained accurately at present.
Disclosure of Invention
The invention aims to solve the technical problem of incapability of acquiring the target position by providing a system for determining the position of an article by utilizing infrared light.
In order to solve the technical problem, the invention adopts the following technical scheme:
a system for determining the position of an article by utilizing infrared light, comprising a computer, a conversion device and an optical positioning device, wherein the computer is electrically connected with the conversion device, and the optical positioning device is electrically connected with the conversion device; the optical positioning device comprises a box body, and a camera mechanism arranged in the box body, wherein the camera mechanism comprises a first camera and a second camera which are arranged at the bottom in the box body, and a first infrared light supplementing lamp and a second infrared light supplementing lamp which are arranged between the first camera and the second camera;
the drying mechanism is further arranged in the box body and comprises an observation through hole formed in the bottom of the box body, a drying component for monitoring the drying state in the box body is arranged in the observation through hole, and the drying component comprises a drying box, drying particles arranged in the drying box, a third conductive sealing ring arranged on the drying box and a fixed pressing plate capable of pressing the third conductive sealing ring;
the first camera and the second camera are fixed at the bottom of the box body through fixing components; the fixing assembly comprises a vertical fixing plate fixedly connected with the bottom of the box body and a guide rail type fixing plate capable of being in sliding connection with the vertical fixing plate;
the left end and the right end of the vertical fixing plate are provided with a first inclined plane compression block and a second inclined plane compression block which are symmetrical, and a third inclined plane compression block and a fourth inclined plane compression block which are symmetrical, wherein the third inclined plane compression block and the fourth inclined plane compression block are positioned below the first inclined plane compression block and the second inclined plane compression block.
In one embodiment, the guide rail type fixing plate has a trapezoid structure with a low left and a high right, so that one surface of the guide rail type fixing plate is a plane, and the other surface of the guide rail type fixing plate is an inclined plane.
In one embodiment, a camera limiting block is arranged at the upper end of the inclined surface of the guide rail type fixing plate, and camera clamps are arranged at two ends of the camera limiting block and on the inclined surface of the guide rail type fixing plate.
In one embodiment, a lens holder is disposed below the inclined surface of the guide rail type fixing plate.
In one embodiment, two ends of the guide rail type fixing plate are provided with a first inclined plane guide block, a second inclined plane guide block, a third inclined plane guide block and a fourth inclined plane guide block which are matched with the first inclined plane compression block, the second inclined plane compression block, the third inclined plane compression block and the fourth inclined plane compression block.
Compared with the prior art, the invention has the following beneficial effects:
the system for determining the position of an article by utilizing infrared light comprises a computer, a conversion device and an optical positioning device, wherein the conversion device is electrically connected with the computer; the optical positioning device comprises a box body, and a camera mechanism arranged in the box body, wherein the camera mechanism comprises a first camera and a second camera which are arranged at the bottom in the box body, and a first infrared light supplementing lamp and a second infrared light supplementing lamp which are arranged between the first camera and the second camera, and the first camera and the second camera are fixed at the bottom of the box body through fixing components; the image information is collected by the optical positioning device and is transmitted to the computer according to a certain frame frequency, and the computer analyzes the image signals collected by the optical positioning device, so that the accurate position information of the object is obtained.
Drawings
FIG. 1 is a schematic diagram of a computer, a conversion device and an optical positioning device according to the present invention.
FIG. 2 is a schematic diagram of an exploded structure of the optical positioning device of the present invention.
Fig. 3 is a schematic structural view of the fixing device of the present invention.
Fig. 4 is a schematic top view of the fixing device of the present invention.
Fig. 5 is a schematic bottom view of the guide rail type fixing plate of the present invention.
Fig. 6 is a schematic side view of the guide rail type fixing plate of the present invention.
Fig. 7 is a schematic view of a camera clip according to the present invention.
Fig. 8 is a schematic view of a lens holder according to the present invention.
In the figure: 20. the device comprises a vertical fixing plate, a first inclined pressing block, a second inclined pressing block, 23, a third inclined pressing block, 24, a fourth inclined pressing block, 25, a first limiting block, 30, a guide rail type fixing plate, 31, a first inclined guiding block, 32, a second inclined guiding block, 33, a third inclined guiding block, 34, a fourth inclined guiding block, 35, a camera limiting block, 36, a camera clamp, 37, a lens clamp, 38, a third limiting block, 39, a lens placing frame, 100, an optical positioning device, 111, a first camera, 112, a second camera, 113, a first infrared light supplementing lamp, 114, a second infrared light supplementing lamp, 121, a first through hole, 122, a second through hole, 123, a third through hole, 124, a fourth through hole, 125, a first conductive sealing strip, 126, a lens maintenance sealing strip, 127, a second conductive sealing strip, 128, a circular support, 131, an observation through hole, 132, a drying box, 133, dry particles, 134, a third conductive sealing ring, 135, a fixed pressing plate, 200, a computer, and a conversion device.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments. In the following description, feature details such as specific configurations and components are provided merely to aid in a thorough understanding of embodiments of the invention. It will therefore be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
It should be understood that the term "and/or" is merely an association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
In the examples provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B may be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information.
The present invention provides a system for determining the position of an item using infrared light.
As shown in fig. 1, a system for determining the position of an article by using infrared light comprises a computer 200, a conversion device 300 and an optical positioning device 100, wherein the optical positioning device is used for acquiring position image information of a target 500 and transmitting the position image information to the computer 200 according to a certain frame frequency; the conversion device 300 is used for supplying power to the computer 200 and the optical positioning device 100, forwarding data by gigabit Ethernet, transferring power by roll electricity, transferring data by CAN bus and the like; the computer is used for analyzing the image signals acquired by the optical positioning device so as to obtain the accurate position information of the object.
Further, the conversion device 300 is electrically connected to the computer 200, and the optical positioning device 100 is electrically connected to the conversion device 300; the image information collected by the optical positioning device 100 is transmitted to the computer 200 through the conversion device 300 according to a certain frame frequency, and the computer 200 analyzes the image signal collected by the optical positioning device 100 to obtain accurate position information of the object.
Further shown in fig. 2-8, the optical positioning device 100 includes a case, a camera mechanism disposed in the case, the camera mechanism including a first camera 111 and a second camera 112 disposed at the bottom in the case, and a first infrared light supplement lamp 113 and a second infrared light supplement lamp 114 disposed between the first camera 111 and the second camera 112.
Further, the bottom of the box body is provided with a first through hole 121, a fourth through hole 124, a second through hole 122 and a third through hole 123 corresponding to the first camera 111, the second camera 112, the first infrared light supplement lamp 113 and the second infrared light supplement lamp 114.
Further, the first through hole 121 and the fourth through hole 124 are respectively provided with a first conductive sealing strip 125 and a lens protecting cover 126, so that the lens protecting cover 126 can seal the first through hole 121 and the fourth through hole 124 through the first conductive sealing strip 125, and further prevent the first camera 111 and the second camera 112 from being damaged.
Further, a second conductive sealing strip 127 and a circular bracket 128 are arranged on the second through hole 122 and the third through hole 123; thereby through the setting of circular support 128 for first infrared light filling lamp 113 and second infrared light filling lamp 114 can be fixed in through circular support 128 in box 100, simultaneously, circular support 128 can be with the better fixing of first infrared light filling lamp 113 and second infrared light filling lamp 114 in box 100 and make first infrared light filling lamp 113 and second infrared light filling lamp 114 be located second through hole 122 and third through hole 123 respectively through second electrically conductive sealing strip 127.
Further, a drying mechanism is further disposed in the case 100, the drying mechanism includes an observation through hole 131 formed in the bottom of the case 100, and a drying component for monitoring the drying state inside the case 100 is disposed in the observation through hole 131, specifically, in this embodiment, the observation through hole 131 is a circular observation through hole.
Further, the drying assembly includes a drying box 132, drying particles 133 disposed in the drying box 132, a third conductive sealing ring 134 disposed on the drying box 132, and a fixing pressing plate 135 capable of fixing the third conductive sealing ring 134; the drying box 132 is a barrel-shaped drying box, and the bottom of the drying box 132 is provided with air holes arranged in an array, in this embodiment, the diameter of each air hole is 2mm.
Further, the dry particles 133 are blue silica gel dry particles, and the dry particles 133 become pink when absorbing a certain amount of moisture or steam, so that the dry and wet condition of the internal environment of the case 100 can be judged by the color of the dry particles 133.
Further, the conductive sealing ring 134 and the fixed pressing plate 135 are used for sealing the drying box 21, and specifically, the fixed pressing plate 135 is composed of a fixed ring and transparent tempered glass; so that the color of the dry particles 133 in the dry box 132 can be observed through the transparent tempered glass.
Further, the window pressing plate 25 is fixed to the observation through hole 20 by fastening screws, and thus the drying box 132 is fixed to the inside of the observation through hole 20, that is, the drying device is fixedly disposed in the case 100.
Further, the drying box 21 is formed by metal working.
Further as shown in the figure, the first camera 111 and the second camera 112 are both fixed at the bottom of the box 100 by a fixing assembly, specifically, the fixing assembly includes a vertical fixing plate 20 and a guide rail type fixing plate 30, the vertical fixing plate 20 is fixedly arranged at the bottom of the box 100, and the guide rail type fixing plate 30 is connected with the vertical fixing plate 20 in a sliding manner; specifically, the left and right ends of the vertical fixing plate 20 are provided with a first inclined surface compression block 21 and a second inclined surface compression block 22 which are symmetrical, and a third inclined surface compression block 23 and a fourth inclined surface compression block 24 which are symmetrical, wherein the third inclined surface compression block 23 and the fourth inclined surface compression block 24 are positioned below the first inclined surface compression block 21 and the second inclined surface compression block 22; preferably, the second and fourth ramped hold down blocks 22, 24 are movable hold down blocks.
Further, the two ends of the guide rail type fixing plate 30 are provided with a first inclined plane guide block 31, a second inclined plane guide block 32, a third inclined plane guide block 33 and a fourth inclined plane guide block 34 which are matched with the first inclined plane compression block 21, the second inclined plane compression block 22, the third inclined plane compression block 23 and the fourth inclined plane compression block 24, so that the guide rail type fixing plate 30 can be in sliding connection with the vertical fixing plate 20.
Further, the first limiting block 25 and the second limiting block (shown in the figure) which limit the sliding of the vertical fixing plate 20 by the guide rail type fixing plate 30 are arranged below the third inclined surface compressing block 23 and the fourth inclined surface compressing block 24 on the vertical fixing plate 20, specifically, the first limiting block 25 and the second limiting block are positioned on the same horizontal line, the first limiting block 25 and the second limiting block are arranged below the third inclined surface compressing block 23 and the second inclined surface compressing block 24, and the guide rail type fixing plate 30 can be prevented from sliding across the vertical fixing plate 20 by the arrangement of the first limiting block 25 and the second limiting block.
As further shown in fig. 6, the guide fixing plate 30 has a trapezoid structure with a lower left and a higher right, so that one surface of the guide fixing plate 30 is a plane and the other surface is an inclined surface; specifically, the inclined angle of the inclined surface is 44 °, and then the infrared imaging camera is fixed on the inclined surface on the guide rail type fixing plate 30, so that the shooting range of the infrared imaging camera is larger.
Further, the camera stopper 35 is provided at the upper end of the inclined surface of the guide rail type fixing plate 30, the camera clamps 36 for fixing the camera on the guide rail type fixing plate 30 are provided at both ends of the camera stopper 35 on the inclined surface of the guide rail type fixing plate 30, specifically, the camera clamps 36 are fixed on the guide rail type fixing plate 30 through fastening screws, so that the camera can be fixed on the guide rail type fixing plate 30 through the camera clamps 36, and meanwhile, the camera is arranged between the clamp and the camera stopper 35 through the arrangement of the camera stopper 35, so that the left-right displacement of the camera is limited.
Further, the camera fixture 36 is a concave fixture, and the outer surface of the included angle between the transverse surface and the vertical surface of the concave fixture is a chamfer; therefore, when the camera clamp 36 is used for fixing a camera, the camera can be further fixed on the guide rail type fixing plate 30 through the included angle between the transverse face and the vertical face of the camera clamp 36, specifically, when the camera clamp 36 is pressed by the pressing force on the left side and the right side, the included angle between the transverse face and the vertical face of the camera clamp 36 is deformed, and then the gap between the camera clamp 36 and the camera is eliminated, so that the rigid connection in an ideal state is ensured, no displacement exists in a strong vibration environment, and the high-precision and high-stability connection of the camera is ensured.
Further, a lens clamp 37 for fixing the camera lens on the guide rail type fixing plate 30 is arranged below the inclined surface of the guide rail type fixing plate 30; specifically, a lens fixing frame 39 that cooperates with the lens clamp 37 to fix the lens is arranged below the inclined surface of the guide rail type fixing plate 30, and more specifically, the lens fixing frame 39 is in an arch shape; the lens clamp 37 is an arch clamp, and the outer surface of an included angle between the transverse surface and the vertical surface of the arch clamp is a bevel; therefore, when the lens fixing frame 39 and the lens clamp 37 are matched to fix the lens on the guide rail type fixing plate 30, the clamping force on the left side and the right side of the lens clamp 37 can deform the included angle between the transverse surface and the vertical surface of the lens clamp 37, so that the gap between the lens clamp 37 and the lens is eliminated, the rigid connection in an ideal state is ensured, no displacement exists under a strong vibration environment, and the high precision and high stability of the lens are ensured.
Further, a third limiting block 38 and a fourth limiting block are arranged on the inclined surface of the guide rail type fixing plate 30, the third limiting block 38 and the fourth limiting block are positioned on the same horizontal line in parallel, and the third limiting block 38 and the fourth limiting block are positioned below the lens clamp 37; so that the lens holder 37 can be restricted from moving downward by the third stopper 38 and the fourth stopper.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the technical solution of the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solution described in the foregoing embodiments may be modified or some of the technical features thereof may be equally substituted; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A system for determining the position of an article using infrared light, comprising: the device comprises a computer (200), a conversion device (300) and an optical positioning device (100), wherein the computer (200) is electrically connected with the conversion device (300), and the optical positioning device (100) is electrically connected with the conversion device (300); the optical positioning device (100) comprises a box body, and a camera mechanism arranged in the box body, wherein the camera mechanism comprises a first camera (111) and a second camera (112) arranged at the bottom in the box body, and a first infrared light supplementing lamp (113) and a second infrared light supplementing lamp (114) arranged between the first camera (111) and the second camera (112);
the drying device is characterized in that a drying mechanism is further arranged in the box body (100), the drying mechanism comprises an observation through hole (131) formed in the bottom of the box body (100), a drying component for monitoring the drying state inside the box body (100) is arranged in the observation through hole (131), and the drying component comprises a drying box (132), drying particles (133) arranged in the drying box (132), a third conductive sealing ring (134) arranged on the drying box (132) and a fixed pressing plate (135) capable of enabling the third conductive sealing ring (134) to be arranged on the drying box;
the first camera (111) and the second camera (112) are fixed at the bottom of the box body (100) through fixing components; the fixing assembly comprises a vertical fixing plate (20) fixedly connected with the bottom of the box body and a guide rail type fixing plate (30) which can be slidably connected with the vertical fixing plate (20);
the left end and the right end of the vertical fixing plate (20) are provided with a first inclined plane compression block (21) and a second inclined plane compression block (22) which are symmetrical, and a third inclined plane compression block (23) and a fourth inclined plane compression block (24) which are symmetrical, wherein the third inclined plane compression block (23) and the fourth inclined plane compression block (24) are positioned below the first inclined plane compression block (21) and the second inclined plane compression block (22).
2. A system for determining the position of an article using infrared light as set forth in claim 1, wherein: the guide rail type fixing plate (30) is of a trapezoid structure with a low left side and a high right side, so that one surface of the guide rail type fixing plate (30) is a plane, and the other surface of the guide rail type fixing plate is an inclined plane.
3. A system for determining the position of an item using infrared light as defined in claim 2, wherein: the camera limiting block (35) is arranged at the upper end of the inclined surface of the guide rail type fixing plate (30), and camera clamps (36) are arranged at the two ends of the camera limiting block (35) and on the inclined surface of the guide rail type fixing plate (30).
4. A system for determining the position of an article using infrared light as set forth in claim 3, wherein: a lens clamp (37) is arranged below the inclined surface of the guide rail type fixing plate (30).
5. A system for determining the position of an item using infrared light as defined in claim 4 wherein: the two ends of the guide rail type fixing plate (30) are provided with a first inclined plane guide block (31), a second inclined plane guide block (32), a third inclined plane guide block (33) and a fourth inclined plane guide block (34) which are matched with the first inclined plane compression block (21), the second inclined plane compression block (22) and the third inclined plane compression block (23) and the fourth inclined plane compression block (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111139514.1A CN113847871B (en) | 2021-09-27 | 2021-09-27 | System for determining position of article by utilizing infrared light |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111139514.1A CN113847871B (en) | 2021-09-27 | 2021-09-27 | System for determining position of article by utilizing infrared light |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113847871A CN113847871A (en) | 2021-12-28 |
| CN113847871B true CN113847871B (en) | 2024-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111139514.1A Active CN113847871B (en) | 2021-09-27 | 2021-09-27 | System for determining position of article by utilizing infrared light |
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| CN (1) | CN113847871B (en) |
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| Publication number | Publication date |
|---|---|
| CN113847871A (en) | 2021-12-28 |
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