CN206819412U - Visual identity alignment system with infrared light supply - Google Patents
Visual identity alignment system with infrared light supply Download PDFInfo
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- CN206819412U CN206819412U CN201720321293.2U CN201720321293U CN206819412U CN 206819412 U CN206819412 U CN 206819412U CN 201720321293 U CN201720321293 U CN 201720321293U CN 206819412 U CN206819412 U CN 206819412U
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- infrared light
- light supply
- mark point
- positioning system
- vision positioning
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Abstract
It the utility model is related to visual identifying system field, and in particular to a kind of visual identity alignment system with infrared light supply.The image collecting device of visual identity alignment system the problem of existing collection image quality is bad when gathering image in the case that light changes.Vision positioning system of the present utility model with infrared light supply includes mark point, image collecting device, infrared light supply and optical filter of the camera lens close to mark point side for being arranged at image collecting device.The mode of unnecessary light is filtered out by infrared light supply exposure label(l)ing point, and optical filter, the image collecting device of vision positioning system is not disturbed when gathering the image containing mark point by ambient, the stable image quality collected.
Description
Technical field
It the utility model is related to visual identifying system field, and in particular to a kind of visual identity positioning with infrared light supply
System.
Background technology
With the development of industrial technology, automation alignment system is with a wide range of applications in numerous areas.Wherein, depending on
Feel that identification alignment system is widely used by industrial automation equipment as a kind of contactless alignment system identified at a distance.Depending on
Feel that the target object image that identification alignment system generally contains mark point by image acquisition device (is such as set on object
Mark point), then pattern recognition device analyzes the image and the positional information of mark point is extracted from image, to determine target
The particular location of thing.
But in actual application, the light that the external world constantly converts can be such that the light intensity of operation field constantly changes,
Thus image acquisition device to picture quality also will appear from changing, particularly can be irradiated to target substance markers in sunlight
The place of point, probably due to the image collected " flower screen " or " excessively quick-fried " occurs and causes pattern recognition device to look for not when serious
The situation of mark point into image, so as to cause visual identity alignment system can not normally complete positioning work.
Correspondingly, this area needs a kind of new visual identity alignment system to solve the above problems.
Utility model content
It has been the image collecting device for solving visual identity alignment system to solve above mentioned problem of the prior art
The problem of existing collection image quality is bad when gathering image in the case that light changes, the utility model provides one kind
Visual identity alignment system with infrared light supply, the vision positioning system include：Mark point, it is arranged at target location；Figure
As harvester, it is used to gather the image containing the mark point；And infrared light supply, its with described image harvester with
Mode close to each other is set；And in the case where the infrared light supply irradiates the mark point, described image harvester
At least image containing the mark point can be collected, and determines that the target location fills with described image collection according to the image
The relative position put.
In the optimal technical scheme of the above-mentioned visual identity alignment system with infrared light supply, the vision positioning system
Also including optical filter, the optical filter is arranged at the camera lens of described image harvester close to the side of the mark point, and
In the case where the infrared light supply irradiates the mark point, the infrared light of the infrared light supply transmitting can pass through the optical filtering
Piece is gathered by described image harvester.
In the optimal technical scheme of the above-mentioned visual identity alignment system with infrared light supply, the mark point is passive
Reflecrtive mark point, the passive reflective mark point can be by way of reflecting the infrared light of the infrared light supply transmitting by the figure
As harvester gathers.
In the optimal technical scheme of the above-mentioned visual identity alignment system with infrared light supply, shone in the infrared light supply
In the case of penetrating the mark point, the optical filter only allows the infrared light of the passive reflective mark point reflection to pass through.
In the optimal technical scheme of the above-mentioned visual identity alignment system with infrared light supply, the optical filter can be with
The mode being spirally connected is fixed on the camera lens close to the side of the mark point.
In the optimal technical scheme of the above-mentioned visual identity alignment system with infrared light supply, the target location is set
In the first equipment, described image harvester and the infrared light supply may be contained within moveable second equipment.
In the optimal technical scheme of the above-mentioned visual identity alignment system with infrared light supply, described image harvester
There is provided with the power power-supply of the infrared light supply by second equipment.
In the optimal technical scheme of the above-mentioned visual identity alignment system with infrared light supply, described image harvester
The power power-supply of the infrared light supply is same power supply.
In the optimal technical scheme of the above-mentioned visual identity alignment system with infrared light supply, second equipment is to set
The piler that is placed in electric charging station, battery changing trolley and/or change level platform.
In the optimal technical scheme of the above-mentioned visual identity alignment system with infrared light supply, it is in second equipment
In the case of the piler, first equipment is power battery charging frame, is had on the power battery charging frame multiple
Storage unit, the mark point are arranged at the outer rim of the storage unit, and the piler can make electrokinetic cell entrance/removal
The corresponding storage unit；In the case of second equipment is the battery changing trolley, first equipment is described dynamic
Power battery charging rack or electric car to be changed；In the case of second equipment changes level platform for described in, first equipment is
The electric car to be changed.
It will be appreciated to those of skill in the art that in optimal technical scheme of the present utility model, there is infrared light supply
Vision positioning system include mark point, image collecting device, infrared light supply and be arranged at the camera lens of image collecting device and lean on
The optical filter of nearly mark point side.By infrared light supply exposure label(l)ing point, and in image acquisition process optical filter filter out it is more
The mode of remaining light line, allow the image collecting device of vision positioning system in the image containing mark point of collection not by outer
The interference of boundary's light, the stable image quality collected.
Brief description of the drawings
Fig. 1 is the system schematic of the vision positioning system of the present utility model with infrared light supply；
Fig. 2 be the vision positioning system of the present utility model with infrared light supply when applied to electric charging station in charging rack
The structural representation (main view direction) at end；
Fig. 3 be the vision positioning system of the present utility model with infrared light supply when applied to electric charging station in piler
The structural representation (overlook direction) at end.
Reference numerals list
1st, mark point；2nd, image collecting device；21st, camera lens；3rd, infrared light supply；4th, optical filter；5th, power battery charging frame；
51st, storage unit；6th, electrokinetic cell；7th, piler.
Embodiment
Preferred embodiment of the present utility model described with reference to the accompanying drawings.It should be understood by those skilled in the art that
It is that these embodiments are used only for explaining technical principle of the present utility model, it is not intended that limit protection of the present utility model
Scope.For example, although the passive reflective mark point in accompanying drawing is annulus, this shape is non-unalterable, art technology
Personnel can make adjustment to it as needed, to adapt to specific application scenario.
It should be noted that in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the direction of instruction such as " level ", " interior ", " outer " or the term of position relationship are closed based on direction shown in the drawings or position
System, this is intended merely to facilitate description, rather than instruction or hint described device or element must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
In addition it is also necessary to explanation, in description of the present utility model, unless otherwise clearly defined and limited, art
Language " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or
It is integrally connected；Can be mechanical connection or electrical connection；Can be joined directly together, can also be by between intermediary
Connect connected, can be the connection of two element internals.To those skilled in the art, can understand as the case may be above-mentioned
Concrete meaning of the term in the utility model.
The purpose of this utility model is, overcomes the image collecting device of visual identity alignment system in the prior art in light
The defects of existing collection image quality is bad when gathering image under conditions of line change.
As shown in figure 1, to achieve the above object, the utility model provides a kind of vision positioning system with infrared light supply
System, the vision positioning system mainly include：It is arranged at the mark point 1 of the target location of the first equipment；And with close to each other
Mode is arranged at image collecting device 2 (such as video camera) and infrared light supply 3 in the second equipment.The mark is irradiated in infrared light supply 3
In the case of note point 1, image collecting device 2 can collect the image at least containing the mark point 1, and be determined according to the image
Target location and the relative position of image collecting device 2.It should be noted that target location can be can be by the first equipment
The position that image collecting device 2 collects, such as the position in the first equipment with the direction of the camera lens 21 substantially face of image collecting device 2
Put.Certainly, the setting of target location is not unique, and those skilled in the art can also be according to concrete application environment to target location
Make adjustment, as long as the position can be collected by image collecting device 2.
With continued reference to Fig. 1, it is additionally provided with the camera lens 21 of image collecting device 2 close to the side of mark point 1 and infrared light
The optical filter 4 that source 3 matches.Preferably, optical filter 4 passes through infrared filter for the infrared light for only allowing infrared light supply 3 to send.It is excellent
Selection of land, mark point 1 are that the passive reflective mark for the infrared light that infrared light supply 3 is sent can be reflected in the case where no electric energy inputs
Note point.In this case, the path for the infrared light that infrared light supply 3 is sent can be：The Infrared irradiation that infrared light supply 3 is sent
To passive reflective mark point, collected after the reflection by passive reflective mark point through infrared filter by image collecting device 2.
Certainly, those skilled in the art can also according to specific application environment to the form of the form of optical filter 4 and mark point 1 and
Position is adjusted flexibly, as long as the adjustment disclosure satisfy that mark point 1 by by the infrared light reflection that infrared light supply 3 is sent to image
The condition of harvester 2.
It is further to note that infrared light that infrared light supply 3 is sent and matching the infrared absorption filter used with the infrared light
Mirror needs to be selected under concrete application environment, but the selection should at least meet that infrared filter allows the ripple of infrared light passed through
The condition of the long infrared light consistent wavelength sent with infrared light supply 3.
The orientation of reference picture 1, it is preferable that infrared light supply 3 is arranged at the top of image collecting device 2, is such as fixedly connected on
In two equipment.Infrared filter is then arranged at the front of camera lens 21 of image collecting device 2, and infrared filter can use and image
The mounting means of the 21 same specification of camera lens of harvester 2, as infrared filter is bolted in the camera lens 21 jointly with the camera lens 21
It is spirally connected on position.Certainly, the set location and connected mode of infrared light supply 3 and infrared filter be not unique, art technology
Personnel can be adjusted according to concrete application environment.As infrared filter is fixedly connected on into camera lens 21 by the way of bonding
Front.
As shown in Figures 2 and 3, in a kind of possible embodiment, the vision of the present utility model with infrared light supply
Alignment system can apply in electric charging station, and the electric charging station mainly includes power battery charging frame 5 (i.e. the first equipment), and
And power battery charging frame 5 has multiple storage units 51 for electrokinetic cell 6 to be stored and charged.And each
Or near every several storage units 51, at the outer rim below storage unit 51 (i.e. target location), set and whether there is (as pasted)
Source reflecrtive mark point, such as circular or annular passive reflective mark point；For carrying and the piler 7 of fetching battery
(i.e. the second equipment), image collecting device 2, image analysis apparatus are installed on piler 7 and are fixedly installed in IMAQ
The infrared light supply 3 of the top of device 2, and the front of camera lens 21 of image collecting device 2 is bolted with infrared filter.Wherein, it is infrared
The power supply of light source 3 can be provided by the power supply of piler 7, such as share same power supply with image collecting device 2.It is that is, infrared
Light source 3 and image collecting device 2 can be understood as with position close to each other：On the one hand it is the limitation set on angle, i.e.,
Need to meet can be reflected onto after Infrared irradiation to the mark point 1 that infrared light supply 3 is sent the camera lens of image collecting device 2
At 21.On the other hand it is the limitation set on distance, i.e., should trying one's best, it is compact each other to cause, so that the power supply of piler 7 can
Simultaneously infrared light supply 3 and image collecting device 2 are powered, while set position also need to ensure installation and operation it is reliable
Property.
Now, when needing to access electrokinetic cell 6, infrared light supply 3 sends Infrared irradiation passive reflective mark point, passive
Reflecrtive mark point will pass through infrared filter after the infrared light reflection, and remaining most of light is then filtered out by infrared filter, so as to
Image collecting device 2 is enabled to collect the picture rich in detail containing the shape of mark point 1.Image collecting device 2 is got clearly
After image, the image is analyzed by image analysis apparatus and just can be derived that relative position of the piler 7 relative to electrokinetic cell 6
Information, the movement of piler 7 is further controlled by this relative position information, the access site of electrokinetic cell 6 is eventually arrived at, makes
Electrokinetic cell 6 enters to be advanced into/remove corresponding to storage unit 51.
In above-mentioned preferred embodiment, there is the vision positioning system of infrared light supply mainly to include being arranged at electrokinetic cell
Passive reflective mark point on charging rack 5, the image collecting device 2 and infrared light supply 3 being arranged on piler 7.Wherein, it is infrared
Light source 3 is arranged at the top of image collecting device 2.In addition, the front of camera lens 21 of image collecting device 2 is also bolted with infrared absorption filter
Mirror.Above-mentioned set-up mode, can be when image collecting device 2 gathers passive reflective mark dot image, will be outer by infrared filter
Boundary's interference light filters out, and only allows the infrared ray that infrared light supply 3 is launched to collect image collecting device 2 by way of and contain
There is the picture rich in detail of passive reflecrtive mark point, essentially eliminate the influence that ambient change is brought.That is, in ambient light
Line constantly conversion on the premise of, image collecting device 2 gather image still be able to holding stablize it is constant, be not in light and shade become
Phenomena such as change is more not in " flower screen " and " excessively quick-fried ", thus image quality is high.In addition, in actual applications, pass through infrared light
Source shares the mode of stacking electromechanical source with image collecting device, still obtains the system and existing equipment is transformed simply, it is easy to accomplish,
Cost is low, and effect is good after transformation, is advantageous to large-scale popularization and application.
Although with by the image collecting device 2 being arranged on piler 7 and infrared light supply 3 to the power in electric charging station
Passive reflective mark point on battery charging rack 5 carries out vision positioning and described as example of the present utility model have infrared light
The vision positioning system in source as above, it is understood by one of ordinary skill in the art that the present invention answers not limited to this.In fact, not inclined
On the premise of the utility model principle, user can neatly adjust according to situations such as product demand and practical application scenes completely
The concrete form of whole all parts.Such as the vision positioning system with infrared light supply can also be applied except electric charging station is applied to
In scenes such as solid charging garage, automated three-dimensional storehouses.In the case of applied to electric charging station, there is regarding for infrared light supply
Feel that alignment system except piler is arranged at, can also be arranged at battery changing trolley etc..It is and infrared in the case of piler is arranged at
Passive marker point corresponding to light source can also be arranged at container etc. except power battery charging frame is arranged at.For example：
1) when being applied to electric charging station scene with the vision positioning system of infrared light supply, can by image collecting device with
Infrared light supply is arranged at the battery changing trolley for delivering and changing electrokinetic cell, and passive reflective mark point is arranged on into electricity to be changed
On the chassis of vehicle, now the vision positioning system is used to realize being accurately positioned for battery changing trolley exchange electric position.Similarly, may be used
So that image collecting device and infrared light supply to be arranged at, for the level platform that changes of parking electric car to be changed, (it is solid such as to change level platform
The landing of fixed pattern or the carrier loader platform that electric car to be changed can be lifted), passive reflective mark point is arranged on electric car to be changed
Chassis on, now the vision positioning system is used to realize and changes level platform electric car to be changed is accurately positioned.
2), can be by image collecting device when the vision positioning system with infrared light supply is applied to three-dimensional Charging apparatus scene
The lifting device for mobile vehicle is arranged at infrared light supply, while passive reflective mark point is arranged on three-dimensional Charging apparatus
Charge position, now the system be used for realize that lifting device is accurately positioned to charge position.
3), can be by IMAQ when the vision positioning system with infrared light supply is applied to automated three-dimensional storehouse scene
Device and infrared light supply are arranged on goods fetching device, and passive reflective mark point is arranged on the container for being mounted with goods,
Now the system is used to realize that goods fetching device is accurately positioned to picking and placeing goods.
So far, combined preferred embodiment shown in the drawings describes the technical solution of the utility model, still, this
Art personnel are it is easily understood that the scope of protection of the utility model is expressly not limited to these embodiments.
On the premise of principle of the present utility model, those skilled in the art can make equivalent change to correlation technique feature
Or replace, the technical scheme after these are changed or replaced it is fallen within the scope of protection of the utility model.
Claims (10)
1. a kind of vision positioning system with infrared light supply, it is characterised in that the vision positioning system includes：
Mark point, it is arranged at target location；
Image collecting device, it is used to gather the image containing the mark point；And
Infrared light supply, it is set with described image harvester in a manner of close to each other；And
Described image harvester is configured to, in the case where the infrared light supply irradiates the mark point, to collect at least
Image containing the mark point, and determine according to the image relative position of the target location and described image harvester.
2. the vision positioning system according to claim 1 with infrared light supply, it is characterised in that the vision positioning system
System also includes optical filter, and the optical filter is arranged at the camera lens of described image harvester close to the side of the mark point, and
And
The optical filter is configured in the case where the infrared light supply irradiates the mark point, it is allowed to the infrared light supply transmitting
Infrared light pass through and gathered by described image harvester.
3. the vision positioning system according to claim 2 with infrared light supply, it is characterised in that the mark point is nothing
Source reflecrtive mark point, the passive reflective mark point are configured to by way of reflecting the infrared light of the infrared light supply transmitting
Gathered by described image harvester.
4. the vision positioning system according to claim 3 with infrared light supply, it is characterised in that the optical filter configuration
In the case of the mark point is irradiated in the infrared light supply, the infrared light of the passive reflective mark point reflection is only allowed to wear
Cross.
5. the vision positioning system according to claim 4 with infrared light supply, it is characterised in that the optical filter can
The camera lens is fixed in a manner of being spirally connected close to the side of the mark point.
6. the vision positioning system according to any one of claim 1 to 5 with infrared light supply, it is characterised in that institute
State target location and be arranged at the first equipment, described image harvester and the infrared light supply may be contained within moveable second and set
It is standby.
7. the vision positioning system according to claim 6 with infrared light supply, it is characterised in that described image collection dress
Put and provided with the power power-supply of the infrared light supply by second equipment.
8. the vision positioning system according to claim 7 with infrared light supply, it is characterised in that described image collection dress
The power power-supply for putting the infrared light supply is same power supply.
9. the vision positioning system according to claim 6 with infrared light supply, it is characterised in that second equipment is
The piler that is arranged in electric charging station, battery changing trolley and/or change level platform.
10. the vision positioning system according to claim 9 with infrared light supply, it is characterised in that
In the case of second equipment is the piler, first equipment is power battery charging frame, the power
There are multiple storage units, the mark point is arranged at the outer rim of the storage unit, the stacking function on battery charging rack
Enough make the storage unit corresponding to electrokinetic cell entrance/removal；
In the case of second equipment is the battery changing trolley, first equipment is the power battery charging frame or treated
Change electric car；
In the case of second equipment changes level platform for described in, first equipment is the electric car to be changed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720321293.2U CN206819412U (en) | 2017-03-30 | 2017-03-30 | Visual identity alignment system with infrared light supply |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720321293.2U CN206819412U (en) | 2017-03-30 | 2017-03-30 | Visual identity alignment system with infrared light supply |
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| CN206819412U true CN206819412U (en) | 2017-12-29 |
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ID=60752040
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720321293.2U Active CN206819412U (en) | 2017-03-30 | 2017-03-30 | Visual identity alignment system with infrared light supply |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109186555A (en) * | 2018-10-16 | 2019-01-11 | 凌云光技术集团有限责任公司 | A kind of Polaroid system and method for laser ablation terminal shell PVD coating |
| CN109798873A (en) * | 2018-12-04 | 2019-05-24 | 华南理工大学 | A kind of stereoscopic vision optical positioning system |
| CN112297938A (en) * | 2019-07-24 | 2021-02-02 | 杭州海康机器人技术有限公司 | Full-automatic battery dismounting and replacing method, device and system |
-
2017
- 2017-03-30 CN CN201720321293.2U patent/CN206819412U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109186555A (en) * | 2018-10-16 | 2019-01-11 | 凌云光技术集团有限责任公司 | A kind of Polaroid system and method for laser ablation terminal shell PVD coating |
| CN109186555B (en) * | 2018-10-16 | 2021-05-14 | 凌云光技术股份有限公司 | One-time imaging system and method for removing PVD (physical vapor deposition) coating of terminal shell by laser |
| CN109798873A (en) * | 2018-12-04 | 2019-05-24 | 华南理工大学 | A kind of stereoscopic vision optical positioning system |
| CN112297938A (en) * | 2019-07-24 | 2021-02-02 | 杭州海康机器人技术有限公司 | Full-automatic battery dismounting and replacing method, device and system |
| CN112297938B (en) * | 2019-07-24 | 2023-11-03 | 杭州海康机器人股份有限公司 | Full-automatic battery disassembling and replacing method, device and system |
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