CN206378903U - Industrial robot vision's alignment system - Google Patents
Industrial robot vision's alignment system Download PDFInfo
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- CN206378903U CN206378903U CN201720023626.3U CN201720023626U CN206378903U CN 206378903 U CN206378903 U CN 206378903U CN 201720023626 U CN201720023626 U CN 201720023626U CN 206378903 U CN206378903 U CN 206378903U
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- camera
- light
- position sensor
- alignment system
- industrial robot
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Abstract
The utility model is related to a kind of industrial robot vision's alignment system, including camera, light source, the first optical splitter, the second optical splitter, first position sensor, second place sensor；Camera；Light source is to provide along the light beam angled with camera photographing axis；First position sensor and second place sensor are to detect parallel to the light beam perpendicular to the direction of camera photographing axis；First optical splitter decomposes the first light path and the second light path to receive the light that light source is sent, and the first light path is along perpendicular to camera photographing axis direction the second optical splitter of directive, direction directive first position sensor of the second light path edge parallel to camera photographing axis；Direction threeth light path directive second place sensor of second optical splitter to be formed in parallel with camera photographing axis after the light for receiving the first light path is reflected.When first position sensor and second place sensor normally can not detect light, illustrate that the pose of camera is incorrect, it is necessary to adjust.
Description
Technical field
The utility model is related to industrial robot vision's positioning field, more particularly to a kind of industrial robot vision's positioning
System.
Background technology
In display screen body detection field, all grabbed substantially using industrial robot, take screen body.During this, typically using work
Industry camera carries out vision positioning, it is ensured that correct crawl screen body, it is ensured that correct placement screen body.
Traditional vision positioning system, the pose level of industrial camera position, vertical adjustment difficulty are big.Wherein, position is adjusted
Appearance is, by hand adjustment, to do sample test etc., it is impossible to reach the effect of fast vision contraposition.
Progressively adjusted by using aids such as scaling board, microscopes in the industry, its time is long, inefficiency and detect it is numerous
Trivial, to debugging, personnel ability requires high, and modification undated parameter is cumbersome, and workload is big.
Utility model content
Based on this, it is necessary to provide a kind of industrial robot vision's alignment system, it can easily determine camera and exist
Whether the pose in system is correct.
A kind of industrial robot vision's alignment system, including camera, light source, the first optical splitter, the second optical splitter, first
Position sensor, second place sensor；Wherein
Camera；
The light source is fixedly connected with the camera, to provide and the angled light beam of photograph axis；
The first position sensor and second place sensor are to detect the side parallel to camera photographing axis
To light beam；
First optical splitter is fixedly connected with camera, to receive the light that the light source is sent, and is decomposed into each other
Vertical the first light path and the second light path, the first light path along the optical splitter of direction directive second perpendicular to camera photographing axis,
Second light path is then along the direction directive first position sensor parallel to camera photographing axis；
Second optical splitter is fixedly connected with camera, is formed after 90 degree of refractions of light to the first light path that will be received
Parallel to the 3rd light path directive second place sensor in the direction of camera photographing axis.
Above-mentioned vision positioning system, light source, the first optical splitter, the second optical splitter and camera lens are linkages, work as first position
When sensor can not detect the light of the second light path, illustrate that position of the camera in industrial robot system is incorrect；When
When second place sensor can not receive the light of the 3rd light path, then the lens axis and screen body for illustrating camera are out of plumb
, user can know whether the pose of camera is correct easily, and then be adjusted.
In one of the embodiments, the camera includes camera lens, and the light source is fixed on the side of camera lens, and described the
One optical splitter, the second optical splitter, first position sensor and second place sensor are then arranged in the opposite side of camera lens.
In one of the embodiments, first optical splitter, the second optical splitter are both secured to camera lens, and the camera lens is along mirror
The radial direction of head offers the passage passed through for the light of the light source.
In one of the embodiments, the light source is spot light.
In one of the embodiments, the alignment system also includes the cloth in the horizontal direction to support article to be detected
The pallet put, the second place sensor is fixed on the pallet.
In one of the embodiments, the first position sensor be fixed on industrial robot to support manipulator
On the platform of arm.
In one of the embodiments, the alignment system also includes the 3rd position sensor, the 3rd position sensing
Device is spaced and perpendicular to camera photographing with the second place sensor on the direction parallel to camera photographing axis
Stagger on the direction of axis, to detect the light reflected by the second place sensor.
In one of the embodiments, the alignment system also includes the 4th position sensor, the 4th position sensing
Device is spaced and perpendicular to camera photographing with the first position sensor on the direction parallel to camera photographing axis
Stagger on the direction of axis, to detect the light reflected by the first position sensor.
In one of the embodiments, the alignment system also includes signal transmission system, correction execution system, the letter
Number signal of the Transmission system to receive the first position sensor and second place sensor passes, and to be rectified to described
Positive execution system sends the signal of the position of the adjustment camera.
In one of the embodiments, the correction execution system is by promoting the camera to be moved in three dimensions
To adjust the position of camera.
Brief description of the drawings
Fig. 1 is the schematic diagram of industrial robot vision's alignment system of the utility model one embodiment；
Fig. 2 is the flow chart that industrial robot vision's alignment system adjusts camera position.
Embodiment
To enable above-mentioned purpose of the present utility model, feature and advantage more obvious understandable, below in conjunction with the accompanying drawings to this
The embodiment of utility model is described in detail.Elaborate many details in order to abundant in the following description
Understand the utility model.But the utility model can be implemented with being much different from other manner described here, this area
Technical staff can do similar improvement in the case of without prejudice to the utility model intension, therefore the utility model is not by following public affairs
The limitation for the specific embodiment opened.
Below in conjunction with the accompanying drawings, the better embodiment of industrial robot vision's alignment system is illustrated.
Fig. 1 is refer to, one embodiment of the present utility model provides a kind of industrial robot vision's alignment system, and it is applied
In industrial robot, can be used in robot mechanical arm crawl article before vision positioning demand or
Article is placed to vision positioning demand during specified location after crawl.During article is workpiece to be detected, the present embodiment, with
The article of crawl is flexible display screen body, is illustrated exemplified by shielding when body is placed into precalculated position.
With reference to Fig. 1, industrial robot vision's alignment system includes camera 110, the first optical splitter 120, the second optical splitter
130th, first position sensor 140, second place sensor 150, light source 160.Wherein, first position sensor 140, second
Sensor 150 is put, sensor is used to penetrating, reflecting infrared/luminous ray sensor, and its sensor signal type encodes for rotating speed
Device or voltage transmitter, are arranged on fixed reference.It is described in detail below in conjunction with the accompanying drawings.
Camera 110 includes camera lens 112.Wherein camera lens 112 includes lens barrel and is installed on the eyeglass of lens barrel one end.Camera lens
112 have the lens axis X vertically extended.That is the ideal position of camera lens 112 is that requirement lens axis X is just along perpendicular
Nogata to.Lens axis X is photograph axis.
Industrial robot vision's alignment system also includes the pallet 170 of support screen body 200.Pallet 170 is in the horizontal direction
Arrangement.So that ideally, lens axis X is perpendicular to pallet 170.And then, when screen body is positioned over pallet 170, mirror
Head axis X is perpendicular to screen body.
, it is necessary to ensure that the lens axis X of camera 110 is vertical with screen body 200 always in operation process, or angular deviation
Within allowed band.During flexible screen physical examination is surveyed, this angular deviation allowed band is ± 2 everys minute ands second.In addition, also to protect
It is correct to demonstrate,prove position of the camera 110 in whole industrial robot system, to ensure screen body 200 relative to whole industry
The position of robot system is correct, and the lens axis X for being unlikely to occur camera 110 is vertical with screen body 200 always, but takes the photograph
As the overall position of first 110 and the screen composition of body 200 is inclined.Therefore, the pose adjustment of camera 110 is related to above-mentioned two
The problem of aspect.
Therefore, in the present embodiment, there is provided the first optical splitter 120, the second optical splitter 130, first position sensor 140,
Second place sensor 150, light source 160, wherein light source 160, the first optical splitter 120, the second optical splitter 130 with camera lens 112
It is fixedly connected, and first position sensor 140, second place sensor 150 are then fixed.By whether detecting optic path
Exception judges whether the pose of camera 110 is correct.
Join Fig. 1, light source 160 is fixed on the side of camera lens 112, the first optical splitter 120, the second optical splitter 130, first position
Sensor 140 and second place sensor 150 are then arranged in the opposite side of camera lens.First optical splitter 120, the second optical splitter 130
The outside of camera lens 112 is both secured to, and camera lens 112 offers the radial direction along camera lens in the passage passed through for the light of light source 160.
The light beam horizontally extending to provide of light source 160.First position sensor 140 and second place sensor
150 light beam to detect vertical direction.Wherein first position sensor 140 is fixed on industrial robot to support machinery
On the platform 310 of arm.Second place sensor 150 is then fixed on pallet 170 or is fixed on other and fixes reference
On thing, on such as platform 310 of support mechanical arm.
In Fig. 1, the first optical splitter 120 is illustrated with the partial enlarged drawing of two dotted line frames, at the second optical splitter 130
Light path is moved towards.
First optical splitter 120 is decomposed into the first light path G1 and perpendicular to one another to receive the light that light source 160 is sent
Two light path G2, wherein the first light path G1 the second optical splitters of directive 130 in the horizontal direction, then directive first position is passed the second light path G2
Sensor 140.
Second optical splitter 130 is sensed to the directive second place after the 90 degree of refractions of light for the first light path G1 that will be received
Device 150.Specifically, after the 90 degree of refractions of the first light path G1 light straight up, the 3rd light path G3 is formed.
When first position sensor 140 receives the second light path G2 light, illustrate camera 110 in industrial robot system
Position in system is correct.When second place sensor 150 receives the 3rd light path G3 light, then illustrate camera 110
Lens axis X with screen body perpendicular to one another.
Light source 160, the first optical splitter 120, the second optical splitter 130 are to link with camera lens 112, therefore camera lens 112 is tilted
Then optic path will appear from exception, when first position sensor 140 can not detect the second light path G2 light, illustrate camera
110 position in industrial robot system is incorrect, it is necessary to be adjusted.When second place sensor 150 can not be received
To the 3rd light path G3 light when, then illustrate that the lens axis X of camera 110 and screen body are out of plumb, and 90 degree have deviation.
Thus, user can know whether the pose of camera 110 is correct easily, and then be adjusted.
Adjustment can also set correction executing agency, to adjust automatically camera by being adjusted manually
Position is to change the angle between lens axis and vertical direction.Correct executing agency and promote camera 110 in three dimensions
Rotate, to meet lens axis X and the perpendicularity requirement on platform 310 respectively, and with shielding the perpendicularity requirement of body 200.
It should be noted that lens axis X direction is the photography direction of camera 110, but it is only in the present embodiment
Illustrated so that lens axis X direction is set to vertical direction as an example.Lens axis X direction can certainly be with vertically
There is deviation in direction.The position of pallet 170 is adjusted therewith.
Correspondingly, light source 160, to provide the light beam provided in the light beam extended along vertical photography direction, the present embodiment
Horizontal direction is presented.Light of the first position sensor 140 with second place sensor 150 to detect parallel photography direction
Beam.In the present embodiment, the light beam of first position sensor 140 and second place sensor 150 to detect vertical direction.On
State in embodiment, light source 160 is preferably spot light, to reduce the influence to the normal photographing of camera 110.Certainly, light source 160
It can be area source, some concentration structures can be set to reduce the influence to the normal photographing of camera 110.
In addition, the light of the first optical splitter of directive 120 of light source 160 can not also fall in vertical photography direction, but other angles
Degree.Such as, when photography direction is vertical direction, the light of the first optical splitter of directive 120 of light source 160 can also be in vertical direction
80 degree of angles.Now, it is only necessary to required to choose suitable optical splitter according to light splitting, i.e. the first optical splitter 120 possesses can
The light beam that non-horizontal directions extends is decomposed into the first light path G1 of horizontal direction function.
It is preferred that, join Fig. 1, alignment system also includes the 3rd position sensor 180.3rd position sensor 180 and second
The in the vertical direction interval of position sensor 150 and stagger in the horizontal direction, it is anti-by second place sensor 150 to receive
It is emitted back towards the light come.
When the 3rd position sensor 180 detect second place sensor 150 transmitting light when, illustrate lens axis X and
Shield body out of plumb, so as to when eliminating only setting second place sensor 150, cause the defect of wrong report because precision is limited.
It is preferred that, alignment system also includes the 4th position sensor 190.4th position sensor 190 is passed with first position
The in the vertical direction interval of sensor 140 and stagger in the horizontal direction, reflected to receive by first position sensor 140
Light.
When the 4th position sensor 190, when detecting the light of the transmitting of first position sensor 140, illustrate lens axis X and
The out of plumb of platform 310, so as to when eliminating only setting first position sensor 140, cause the defect of wrong report because precision is limited.
Whether the vision positioning system of above-described embodiment, the pose that can be conveniently detected camera 110 is correct, and then
Foundation is provided for adjustment.
Further, vision positioning system also includes signal transmission system.Wherein, signal transmission system is to receive first
The signal that position sensor 140 and second place sensor 150 are transmitted, and to send adjustment camera to correction execution system
The position of 110 photograph axis.
According to Fig. 1 structure, join Fig. 2, illustrate using vision positioning system detect the position correctness of camera 110 and
The flow being adjusted.
Vision positioning system is in use, camera 110 is fixedly connected with correction execution system, and correction execution system is then
It is connected with mechanical arm, and pallet 170 is then fixed on mechanical arm.
According to Fig. 1 structure, such as Fig. 2, when vision positioning system works, camera 110, which is taken pictures, obtains the current of pallet 170
Position, while two position sensors then obtain the positional information of camera 110.
If the position of pallet 170 in target location, does not adjust mechanical arm first, to adjust the position of pallet 170.
In this way, after using another mechanical arm crawl screen body 200, screen body 200 can be placed on predetermined position.
If the position of pallet 170 is in target location, the information analysis shooting obtained using two position sensors
Whether first 110 position is correct：Whether correct, camera 110 is in system for relative position including camera 110 and pallet 170
In position it is whether correct.Wherein, CPU generates control instruction according to the difference between the result and setting value of analysis, and control is rectified
Positive executing agency adjusts the position of the relative mechanical arm of camera 110.
Light source 160, the first optical splitter 120, the second optical splitter 130 and camera lens 112 are linkages, and therefore, camera 110 exists
When being adjusted in three dimensions, the light path of system is also adjusted therewith.When between the result and setting value of the CPU analyses analyzed
Difference is can be in range of receiving when, and correction executing agency no longer adjusts the position of camera 110.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the present utility model, and it describes more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent scope.It should be pointed out that for the common skill of this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
Protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of industrial robot vision's alignment system, it is characterised in that including camera, light source, the first optical splitter, second point
Light device, first position sensor, second place sensor；Wherein
Camera；
The light source is fixedly connected with the camera, to provide the light beam angled with camera photographing axis；
The first position sensor and second place sensor are to detect the direction parallel to camera photographing axis
Light beam；
First optical splitter is fixedly connected with camera, to receive the light that the light source is sent, and is decomposed into perpendicular to one another
The first light path and the second light path, the first light path along perpendicular to camera photographing axis the optical splitter of direction directive second, second
Light path is then along the direction directive first position sensor parallel to camera photographing axis；
Second optical splitter is fixedly connected with camera, to be formed in parallel with taking the photograph after the light refraction by the receive first light path
As the 3rd light path directive second place sensor in the direction of head photograph axis.
2. industrial robot vision's alignment system according to claim 1, it is characterised in that the camera includes mirror
Head, the light source is fixed on the side of camera lens, first optical splitter, the second optical splitter, first position sensor and second
Put the opposite side that sensor is then arranged in camera lens.
3. industrial robot vision's alignment system according to claim 2, it is characterised in that first optical splitter,
Two optical splitters are both secured to camera lens, and radial direction of the camera lens along camera lens offers the passage passed through for the light of the light source.
4. industrial robot vision's alignment system according to claim 1, it is characterised in that the light source is spot light.
5. industrial robot vision's alignment system according to claim 1, it is characterised in that the alignment system also includes
The pallet arranged to the edge for supporting article to be detected perpendicular to camera photographing axis direction, the second place sensor is consolidated
Due to the pallet.
6. industrial robot vision's alignment system according to claim 1, it is characterised in that the first position sensor
It is fixed on the platform to support mechanical arm of industrial robot.
7. industrial robot vision's alignment system according to claim 1, it is characterised in that the alignment system also includes
3rd position sensor, the 3rd position sensor is with the second place sensor parallel to camera photographing axis
It is spaced and staggers on the direction perpendicular to camera photographing axis on direction, it is anti-by the second place sensor to detect
It is emitted back towards the light come.
8. industrial robot vision's alignment system according to claim 1, it is characterised in that the alignment system also includes
4th position sensor, the 4th position sensor is with the first position sensor parallel to camera photographing axis
It is spaced and staggers on the direction perpendicular to camera photographing axis on direction, it is anti-by the first position sensor to detect
It is emitted back towards the light come.
9. industrial robot vision's alignment system according to claim 1, it is characterised in that the alignment system also includes
Signal transmission system, correction execution system, the signal transmission system is to receive the first position sensor and second
The signal of sensor passes is put, and to send the signal for the position for adjusting the camera to the correction execution system.
10. industrial robot vision's alignment system according to claim 9, it is characterised in that the correction execution system
The position of camera is adjusted by promoting the camera to be moved in three dimensions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720023626.3U CN206378903U (en) | 2017-01-09 | 2017-01-09 | Industrial robot vision's alignment system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720023626.3U CN206378903U (en) | 2017-01-09 | 2017-01-09 | Industrial robot vision's alignment system |
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| CN206378903U true CN206378903U (en) | 2017-08-04 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108038888A (en) * | 2017-12-19 | 2018-05-15 | 清华大学 | Hybrid camera system and its space scaling method and device |
| CN110864671A (en) * | 2018-08-28 | 2020-03-06 | 中国科学院沈阳自动化研究所 | Robot repeated positioning precision measuring method based on line structured light fitting plane |
-
2017
- 2017-01-09 CN CN201720023626.3U patent/CN206378903U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108038888A (en) * | 2017-12-19 | 2018-05-15 | 清华大学 | Hybrid camera system and its space scaling method and device |
| CN110864671A (en) * | 2018-08-28 | 2020-03-06 | 中国科学院沈阳自动化研究所 | Robot repeated positioning precision measuring method based on line structured light fitting plane |
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