CN206772261U - Positioning measuring device - Google Patents
Positioning measuring device Download PDFInfo
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- CN206772261U CN206772261U CN201720606109.9U CN201720606109U CN206772261U CN 206772261 U CN206772261 U CN 206772261U CN 201720606109 U CN201720606109 U CN 201720606109U CN 206772261 U CN206772261 U CN 206772261U
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Abstract
The utility model provides a kind of positioning measuring device, and positioning measuring device includes：Visual detector, for obtaining image information of the workpiece for measurement in the first preset plane；Range sensor, along the real-time range value of the first preset direction between the scheduled measurement point for measuring visual detector and workpiece for measurement；Control unit, control unit is all connected with range sensor and visual detector, to obtain the real-time range value measured by range sensor, control unit is to real-time range value compared with predetermined initial value, and the position of visual detector is adjusted according to comparative result, so that visual detector obtains image information when the distance between the scheduled measurement of workpiece for measurement point is predetermined initial value；Wherein, control unit draws the real-time position information of scheduled measurement point according to real-time range value and image information.Positioning measuring device of the present utility model solves the problems, such as that positioning measuring device of the prior art can not realize fast positioning.
Description
Technical field
Detection positioning field is the utility model is related to, in particular to a kind of positioning measuring device.
Background technology
Existing air conditioner is welded using artificial flame in two pipeline connecting weldings, and pipeline is pre-installed in part
Welding uses automatic welding, and during for automatic welding, the positioning for welding position uses machinery positioning method more.But it is directed to
Pipeline this easily resilience, yielding part, in order to adapt to the welding needs of automation, need to put into large number quipments in terms of production
Cost is updated, to ensure product consistency, but income is little.
It is practical due to needing a large amount of scanning areas if using range sensor merely when being positioned for welding position
It is ineffective (can only single tube measurement, easily by other pipelines around disturb).If camera vision positioning is used only, need also exist for
More cameras need the longer calculating time, can not be in short time fast positioning (single tube positioning needs 30 seconds, and needs
The positioning of different angle, the requirement to space are big).
Utility model content
Main purpose of the present utility model is to provide a kind of positioning measuring device, surveyed with solving positioning of the prior art
The problem of amount device can not realize fast positioning.
To achieve these goals, the utility model provides a kind of positioning measuring device, including：Visual detector, use
In image information of the acquisition workpiece for measurement in the first preset plane；Range sensor, the direction of the sensing head of range sensor
It is identical with the direction of the detector of visual detector, edge between the scheduled measurement point for measuring visual detector and workpiece for measurement
The real-time range value of first preset direction；First preset direction is perpendicular to the first preset plane；Control unit, control unit with away from
It is all connected with from sensor and visual detector, to obtain the real-time range value measured by range sensor, control unit is to real-time
Distance value compared with predetermined initial value, and according to comparative result adjust visual detector position so that visual detector
Image information is obtained when the distance between the scheduled measurement of workpiece for measurement point is predetermined initial value；Wherein, control is single
Primitive root factually when distance value and image information draw the real-time position information of scheduled measurement point.
Further, positioning measuring device also includes：Mounting bracket, mounting bracket are movably disposed along the second preset direction,
Range sensor and visual detector are installed on mounting bracket, to be moved in the preset direction of drive lower edge second of mounting bracket；
Wherein, the second preset direction is perpendicular to the first preset direction.
Further, mounting bracket includes：Base；Movable stand, movable stand are movably disposed at bottom along the second preset direction
On seat, range sensor and visual detector are installed on movable stand.
Further, movable stand includes：First mounting bracket, the first mounting bracket are movably disposed on base, vision inspection
Device is surveyed to be arranged on the first mounting bracket.
Further, mounting bracket also includes：Secondary light source, secondary light source are arranged on the first mounting bracket, think that vision is examined
Survey device and light source is provided.
Further, movable stand also includes：Second mounting bracket, the second mounting bracket are arranged on the first mounting bracket and examined away from vision
One end of device is surveyed, range sensor is arranged on the second mounting bracket.
Further, positioning measuring device also includes：Operating mechanism, operating mechanism are used to install to workpiece for measurement
The operating head of reason, operating mechanism are connected with mounting bracket；Control unit is connected with operating mechanism, with according to positional information control operation
The Working position of head, so that operating head is processed to workpiece for measurement.
Further, operating mechanism includes：Support frame, support frame have installation cavity, and support frame is connected with mounting bracket；Clamping
Component, clamp assemblies are arranged in installation cavity, and clamp assemblies are used for clipping operation head.
Further, visual detector is camera.
Positioning measuring device of the present utility model is made by the cooperation of visual detector, range sensor and control unit
With the quick obtaining for realizing the positional information to the scheduled measurement point of workpiece for measurement, wherein, the sensing head of range sensor
Towards, control unit identical with the direction of the detector of visual detector, control unit and range sensor and visual detector
It is all connected with.In specific aligner measurements, visual detector is measured and in the first preset plane by range sensor
Along the real-time range value of the first preset direction between the scheduled measurement point of workpiece for measurement, and the incoming control of real-time range value is single
Member, by control unit to real-time range value compared with predetermined initial value, and according to comparative result adjust visual detector
Position so that visual detector obtains when the distance between the scheduled measurement of workpiece for measurement point is predetermined initial value
Image information, after image information is obtained, control unit draws the reality of scheduled measurement point according to real-time range value and image information
When positional information.
Individually positioning is carried out to workpiece for measurement and compared using visual detector or range sensor compared to existing, this practicality
New positioning measuring device can obtain the quick obtaining of the positional information of scheduled measurement point in a short time, existing so as to solve
There is the problem of positioning measuring device in technology can not realize fast positioning.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding to of the present utility model, this practicality
New schematic description and description is used to explain the utility model, does not form to improper restriction of the present utility model.
In the accompanying drawings：
Fig. 1 shows the structural representation of the embodiment according to positioning measuring device of the present utility model；
Fig. 2 shows the flow chart of the embodiment according to locating measurement method of the present utility model；
Fig. 3 shows the identification region schematic diagram according to the X-Y plane of positioning measuring device of the present utility model；
Fig. 4 shows the identification region schematic diagram according to the Y-Z plane of positioning measuring device of the present utility model；And
Fig. 5 shows the identification region schematic diagram according to the X-Z plane of positioning measuring device of the present utility model.
Wherein, above-mentioned accompanying drawing marks including the following drawings：
10th, range sensor；20th, visual detector；30th, mounting bracket；31st, base；32nd, movable stand；321st, the first installation
Frame；322nd, the second mounting bracket；33rd, secondary light source；40th, operating mechanism；41st, clamp assemblies；42nd, support frame；421st, installation cavity；
422nd, the first installation longeron；423rd, the second installation longeron；The 424th, crossbeam is installed；50th, the first preset plane；60th, workpiece for measurement.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
The utility model provides a kind of positioning measuring device, refer to Fig. 1, and positioning measuring device includes：Vision-based detection
Device 20, for obtaining image information of the workpiece for measurement 60 in the first preset plane 50；Range sensor 10, range sensor 10
Sensing head direction it is identical with the direction of the detector of visual detector 20, for measuring visual detector 20 and workpiece for measurement
Along the real-time range value of the first preset direction between 60 scheduled measurement point；First preset direction is perpendicular to the first preset plane
50；Control unit, control unit are all connected with range sensor 10 and visual detector 20, are surveyed with obtaining range sensor 10
The real-time range value of amount, control unit regard to real-time range value compared with predetermined initial value, and according to comparative result adjustment
The position of detector 20 is felt, so that visual detector 20 is pre- in the distance between the scheduled measurement of workpiece for measurement 60 point
Determine to obtain image information during initial value；Wherein, control unit draws scheduled measurement point according to real-time range value and image information
Real-time position information.
Positioning measuring device of the present utility model is matched somebody with somebody by visual detector 20, range sensor 10 and control unit
Close using the quick obtaining for realizing the positional information to the scheduled measurement point of workpiece for measurement 60, wherein, range sensor 10
The direction of sensing head is identical with the direction of the detector of visual detector 20, control unit, control unit and range sensor 10
It is all connected with visual detector 20.In specific aligner measurements, by range sensor 10 measure visual detector 20 with
Along the real-time range value of the first preset direction between the scheduled measurement point of workpiece for measurement 60 in the first preset plane 50, and will
Real-time range value is passed to control unit, by control unit to real-time range value compared with predetermined initial value, and according to than
Relatively result adjust visual detector 20 position so that visual detector 20 positioned at the scheduled measurement of workpiece for measurement 60 point it
Between distance obtain image information when being predetermined initial value, after image information is obtained, control unit according to real-time range value and
Image information draws the real-time position information of scheduled measurement point.
Individually positioning is carried out to workpiece for measurement 60 and compared using visual detector 20 or range sensor 10 compared to existing,
Positioning measuring device of the present utility model can obtain the quick obtaining of the positional information of scheduled measurement point in a short time, so as to
Solve the problems, such as that positioning measuring device of the prior art can not realize fast positioning.
In order to be movably disposed range sensor 10 and visual detector 20, as shown in figure 1, positioning measurement fills
Putting also includes：Mounting bracket 30, mounting bracket 30 are movably disposed along the second preset direction, range sensor 10 and visual detector
20 are installed on mounting bracket 30, to be moved in the preset direction of drive lower edge second of mounting bracket 30；Wherein, the second preset direction
Perpendicular to the first preset direction.
In the present embodiment, by being provided with mounting bracket 30 on positioning measuring device, wherein, mounting bracket 30 along second is pre-
Set direction is movably disposed, by the way that range sensor 10 and visual detector 20 are installed on mounting bracket 30, so as to
So that range sensor 10 and visual detector 20 move in the preset direction of drive lower edge second of mounting bracket 30.
In order to make mounting bracket 30 be movably disposed along the second preset direction, mounting bracket 30 includes：Base 31；It is mobile
Frame 32, movable stand 32 are movably disposed on base 31 along the second preset direction, range sensor 10 and visual detector 20
It is installed on movable stand 32.By being provided with base 31 and movable stand 32 on mounting bracket 30, wherein, movable stand 32 along second
Preset direction is movably disposed on base 31, by the way that range sensor 10 and visual detector 20 are installed in into movable stand
On 32, so as to so that range sensor 10 and visual detector 20 move in the preset direction of drive lower edge second of movable stand 32
It is dynamic.
In order to which visual detector 20 is arranged on movable stand 32, movable stand 32 includes：First mounting bracket 321, the
One mounting bracket 321 is movably disposed on base 31, and visual detector 20 is arranged on the first mounting bracket 321.By moving
The first mounting bracket 321 is provided with moving frame 32, wherein, the first mounting bracket 321 is movably disposed on base 31, by that will regard
Feel that detector 20 is arranged on the first mounting bracket 321, so that visual detector 20 can move ground by the first mounting bracket 321
It has been arranged on movable stand 32.
In order to ensure that visual detector 20 just has enough light sources when obtaining image information, as shown in figure 1, installation
Frame 30 also includes：Secondary light source 33, secondary light source 33 are arranged on the first mounting bracket 321, to provide light for visual detector 20
Source.
In the present embodiment, by being provided with secondary light source 33 on mounting bracket 30, wherein, secondary light source 33 is arranged on
On one mounting bracket 321, so as to be that visual detector 20 provides enough light sources to obtain work to be measured by secondary light source 33
The picture rich in detail information of part 60.
Correspondingly, in order to which range sensor 10 is arranged on movable stand 32, movable stand 32 also includes：Second installation
Frame 322, the second mounting bracket 322 are arranged on first one end of mounting bracket 321 away from visual detector 20, and range sensor 10 is installed
On the second mounting bracket 322.
In the present embodiment, by being provided with the second mounting bracket 322 on movable stand 32, wherein, the second mounting bracket 322 is set
Put in first one end of mounting bracket 321 away from visual detector 20, by the way that range sensor 10 is arranged on into the second mounting bracket 322
On, so as to so that range sensor 10 is movably disposed on movable stand 32 by the second mounting bracket 322.
In order to carry out following process processing to the workpiece for measurement 60 after positioning, positioning measuring device also includes：Operation
Mechanism 40, operating mechanism 40 are used to install the operating head for handling workpiece for measurement 60, and operating mechanism 40 connects with mounting bracket 30
Connect；Control unit is connected with operating mechanism 40, with the Working position according to positional information control operation head, so that operating head is treated
Workpiece 60 is surveyed to be processed.
In the present embodiment, operating mechanism 40 is provided with positioning measuring device, wherein, operating mechanism 40 is used for installation pair
The operating head that workpiece for measurement 60 is handled, operating mechanism 40 are connected with mounting bracket 30；Control unit is connected with operating mechanism 40,
With the Working position according to positional information control operation head, in the present embodiment, workpiece for measurement 60 is pipeline to be welded, operating head
For welding machine, after the positional information of pipeline contact to be welded is obtained, soldering is carried out to pipeline by mobile welding machine.
Preferably, operating mechanism 40 includes：Support frame 42, support frame 42 have installation cavity 421, support frame 42 and mounting bracket
30 connections；Clamp assemblies 41, clamp assemblies 41 are arranged in installation cavity 421, and clamp assemblies 41 are used for clipping operation head.
For the concrete structure of support frame 42, it is preferable that support frame 42 includes：First installation longeron 422 and second is installed
Longeron 423, the first installation longeron 422 be arranged in parallel with the second installation longeron, and shown clamp assemblies 41 are arranged on the first installation and indulged
Beam 422 and second is installed between longeron 423.
Preferably, support frame 42 also includes：Crossbeam 424 is installed, installation crossbeam 424 is arranged on the He of the first installation longeron 422
Between second installation longeron 423, longeron 423 is installed with the installation longeron 422 and second of connection first；Wherein, the first installation longeron
422nd, the second installation longeron 423 and installation crossbeam 424 surround installation cavity 421.
In view of the convenience of the acquisition image information of visual detector 20, visual detector 20 is camera.
Range sensor 10 and camera in the utility model are attached separately on the axle that can unidirectionally move, or are mounted in simultaneously
In robot with tri- direction frees degree of XYZ.Mounting bracket 30 of the present utility model can use six-joint robot, its specific control
Unit processed can use PLC to control.
The utility model additionally provides a kind of locating measurement method, and locating measurement method fills using above-mentioned positioning measurement
Put, refer to Fig. 2, locating measurement method includes：Step 1：Using range sensor measurement workpiece for measurement scheduled measurement point with
Along the real-time range value X1 of the first preset direction between visual detector；Step 2：To real-time range value X1 and predetermined initial value
X0 is compared, and the position of visual detector is adjusted according to comparative result, so that visual detector is being located at and workpiece for measurement
The distance between scheduled measurement point obtain image information of the workpiece for measurement in the first preset plane when being predetermined initial value；Step
Three：According to real-time range value X1 and image information acquisition workpiece for measurement real-time position information.
Preferably, the position of visual detector is adjusted according to real-time range value X1 and predetermined initial value X0 comparative result
Method includes：When real-time range value X1 is more than predetermined initial value X0, visual detector is leaned on along the first preset direction and direction
The direction movement of nearly workpiece for measurement, the displacement H of visual detector is between real-time range value X1 and predetermined initial value X0
Difference；Or when real-time range value X1 is less than predetermined initial value X1, by visual detector along the first preset direction and towards remote
Direction from workpiece for measurement is moved, and the displacement H of visual detector is between real-time range value X1 and predetermined initial value X0
Difference；Or when real-time range value X1 is equal to predetermined initial value X0, keep visual detector motionless.
Preferably, predetermined initial value X0 determination method includes：Initial zero position is set；Visual detector is moved to
Initial zero position, detection the distance between visual detector and workpiece for measurement are predetermined initial value X0.
Preferably, determining the method for real-time position information includes：Three-dimensional system of coordinate is set, and using initial zero position as three
The origin position of dimension coordinate system；Wherein, the first reference axis of three-dimensional system of coordinate is parallel with the first preset direction, three-dimensional system of coordinate
Second reference axis and three axes are respectively positioned in the first preset plane；With real-time range value X1 and predetermined initial value X0 difference
X1-X0 is the first coordinate of scheduled measurement point；According to scheduled measurement o'clock in the first preset plane relative to the first reference axis
The second coordinate and the 3rd coordinate of scheduled measurement point are drawn with the position coordinates of the second reference axis.
Specifically, the first reference axis is X-coordinate axle, and the second reference axis is Y-coordinate axle, and three axes are Z coordinate axle.
In the present embodiment, with to workpiece for measurement 60 is pipeline when illustrate：
Initial dead-center position is set；Camera is moved to center (visual coordinate of the measured object in visual range
Dead-center position), record now machine coordinates { x, y, z }.Herein, whole positioning measuring device regards a robot as, and machine is sat
Mark is the coordinate of the robot.Translation distance sensor measures in the Y direction, measures X0 corresponding to normal place.
Measurement process：First the robot simultaneously equipped with camera and range sensor is moved in the Y direction, measures measured object
In the distance of X-direction, workpiece distance X1 now is obtained.Now, workpiece and focal distance (X0) can be obtained according to corresponding relation
Difference：X1-X0.Then, robot moves camera guarantee workpiece in focal length X0 distance according to difference.
Work as X1-X0>When 0, robot is to being X1-X0 close to workpiece direction displacement；Work as X1-X0<When 0, robot to
It is away from the direction displacement of workpiece | X1-X0 |, after being moved to camera shooting focal length position, carry out visual identity.Obtain quilt
The coordinate Y1, Z1 surveyed in the ZY planes of object.The actual coordinate of measured workpiece is { X1-X0, Y1, Z1 }.
Start measurement when, as shown in Figures 2 to 5, by displacement sensor 10 in the Y direction measure pipeline, when away from
When can not obtain the range information of pipeline from sensor 10, show pipeline outside tested region, then adjust pipeline position extremely
In tested region；When tested pipeline is located in the range of measurement space, the X-direction of tested point is obtained by range sensor 10
Coordinate value X1, by adjusting visual detector 20 to the picture-taking position of focal length, to obtain the image information of pipeline, control unit root
Distance value and image information draw the coordinate value Y1 of the Y-direction of the scheduled measurement point and coordinate value Z1 of Z-direction when factually.
As can be seen from the above description, the utility model the above embodiments realize following technique effect：
Positioning measuring device of the present utility model is matched somebody with somebody by visual detector 20, range sensor 10 and control unit
Close using the quick obtaining for realizing the positional information to the scheduled measurement point of workpiece for measurement 60, wherein, range sensor 10
The direction of sensing head is identical with the direction of the detector of visual detector 20, control unit, control unit and range sensor 10
It is all connected with visual detector 20.In specific aligner measurements, by range sensor 10 measure visual detector 20 with
Along the real-time range value of the first preset direction between the scheduled measurement point of workpiece for measurement 60 in the first preset plane 50, and will
Real-time range value is passed to control unit, by control unit to real-time range value compared with predetermined initial value, and according to than
Relatively result adjust visual detector 20 position so that visual detector 20 positioned at the scheduled measurement of workpiece for measurement 60 point it
Between distance obtain image information when being predetermined initial value, after image information is obtained, control unit according to real-time range value and
Image information draws the real-time position information of scheduled measurement point.
Individually positioning is carried out to workpiece for measurement 60 and compared using visual detector 20 or range sensor 10 compared to existing,
Positioning measuring device of the present utility model can obtain the quick obtaining of the positional information of scheduled measurement point in a short time, so as to
Solve the problems, such as that positioning measuring device of the prior art can not realize fast positioning.
Preferred embodiment of the present utility model is the foregoing is only, is not limited to the utility model, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all in the spirit and principles of the utility model
Within, any modification, equivalent substitution and improvements made etc., it should be included within the scope of protection of the utility model.
Claims (9)
- A kind of 1. positioning measuring device, it is characterised in that including：Visual detector (20), for obtaining image information of the workpiece for measurement (60) in the first preset plane (50)；Range sensor (10), the direction of the sensing head of the range sensor (10) and the detection of the visual detector (20) The direction of head is identical, for measuring between the visual detector (20) and the scheduled measurement point of the workpiece for measurement (60) along the The real-time range value of one preset direction；First preset direction is perpendicular to first preset plane (50)；Control unit, described control unit is all connected with the range sensor (10) and the visual detector (20), to obtain The real-time range value measured by the range sensor (10) is taken, described control unit is to the real-time range value with making a reservation for initially Value is compared, and the position of the visual detector (20) is adjusted according to comparative result, so that the visual detector (20) Described image is obtained when being the predetermined initial value positioned at the distance between scheduled measurement point with the workpiece for measurement (60) Information；Wherein, described control unit draws the reality of the scheduled measurement point according to the real-time range value and described image information When positional information.
- 2. positioning measuring device according to claim 1, it is characterised in that the positioning measuring device also includes：Mounting bracket (30), the mounting bracket (30) are movably disposed along the second preset direction, the range sensor (10) and The visual detector (20) is installed on the mounting bracket (30), with described in the drive lower edge of the mounting bracket (30) Two preset directions move；Wherein, second preset direction is perpendicular to first preset direction.
- 3. positioning measuring device according to claim 2, it is characterised in that the mounting bracket (30) includes：Base (31)；Movable stand (32), the movable stand (32) are movably disposed on the base (31) along second preset direction, The range sensor (10) and the visual detector (20) are installed on the movable stand (32).
- 4. positioning measuring device according to claim 3, it is characterised in that the movable stand (32) includes：First mounting bracket (321), first mounting bracket (321) are movably disposed on the base (31), the vision Detector (20) is arranged on first mounting bracket (321).
- 5. positioning measuring device according to claim 4, it is characterised in that the mounting bracket (30) also includes：Secondary light source (33), the secondary light source (33) are arranged on first mounting bracket (321), think the vision-based detection Device (20) provides light source.
- 6. positioning measuring device according to claim 4, it is characterised in that the movable stand (32) also includes：Second mounting bracket (322), second mounting bracket (322) are arranged on first mounting bracket (321) away from the vision One end of detector (20), the range sensor (10) are arranged on second mounting bracket (322).
- 7. positioning measuring device according to claim 2, it is characterised in that the positioning measuring device also includes：Operating mechanism (40), the operating mechanism (40) are used to install the operating head for handling the workpiece for measurement (60), The operating mechanism (40) is connected with the mounting bracket (30)；Described control unit is connected with the operating mechanism (40), to control the processing of the operating head according to the positional information Position, so that the operating head is processed to the workpiece for measurement (60).
- 8. positioning measuring device according to claim 7, it is characterised in that the operating mechanism (40) includes：Support frame (42), support frame as described above (42) have installation cavity (421), and support frame as described above (42) connects with the mounting bracket (30) Connect；Clamp assemblies (41), the clamp assemblies (41) are arranged in the installation cavity (421), and the clamp assemblies (41) are used for Clamp the operating head.
- 9. positioning measuring device according to claim 1, it is characterised in that the visual detector (20) is camera.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720606109.9U CN206772261U (en) | 2017-05-26 | 2017-05-26 | Positioning measuring device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720606109.9U CN206772261U (en) | 2017-05-26 | 2017-05-26 | Positioning measuring device |
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| CN206772261U true CN206772261U (en) | 2017-12-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360879A (en) * | 2020-02-19 | 2020-07-03 | 哈尔滨工业大学 | Visual servo automatic positioning device based on distance measuring sensor and visual sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360879A (en) * | 2020-02-19 | 2020-07-03 | 哈尔滨工业大学 | Visual servo automatic positioning device based on distance measuring sensor and visual sensor |
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