CN207280389U - A kind of gap being used cooperatively with robot, face difference vision measurement device - Google Patents
A kind of gap being used cooperatively with robot, face difference vision measurement device Download PDFInfo
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- CN207280389U CN207280389U CN201721814008.7U CN201721814008U CN207280389U CN 207280389 U CN207280389 U CN 207280389U CN 201721814008 U CN201721814008 U CN 201721814008U CN 207280389 U CN207280389 U CN 207280389U
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Abstract
The utility model discloses a kind of gap being used cooperatively with robot, face difference vision measurement device, belong to automatic measurement technical field, it is characterised in that including gauge head（1）, supporting part（2）, connecting flange（3）, the gauge head（1）Quantity is two, passes through supporting part（2）Connection, the left and right sides is symmetrical, and certain angle that slopes inwardly, gauge head（1）Inside is provided with camera（11）And laser（12）, the laser（12）Transmitting laser is in line style, camera（11）Front end is provided with optical filter, the connecting flange（3）With supporting part（2）It is connected, for being fixed with robot, the utility model combines robot automation and high efficiency feature, utilize structural light three-dimensional measuring principle, realize and the intelligence of workpiece gap, face difference is measured in real time and is intuitively shown, user can be obtained by operating in a key and treat measurement information, convenient simple, accuracy height.
Description
Technical field
Automatic measurement technical field is the utility model is related to, is used cooperatively in particular to a kind of and robot
Gap, face difference vision measurement device.
Background technology
With the fast development of modern manufacturing industry, the Large-scale Manufacturing such as aerospace, automobile proposes more quality control
High requirement, and the product of these industries weighs greatly, generally requires at the scene to solve quality problems in real time.Work pieces process,
Assemble in assembling process, according to factors such as the global design of different processing technology, finished product, beauties, in the manufacture of whole workpiece, group
During dress, inevitably there are various gaps, face are poor, such as：Gap between arrangements for automotive doors and frame, between appropriate
The problems such as gap can effectively reduce car door abnormal sound, car door abrasion, close door is laborious, meanwhile, in vehicle processing, assembling process,
Workpiece gap, face difference are indispensable technique, therefore, spread to whole industry assembling manufacture field, the gap of workpiece, face difference are
The technology related generally to, and whether clearance distance meets design standard and is related to overall comfort, harmony, is exactly base
In such demand, emerge in an endless stream to the measurement means in gap, face difference.
Traditional measuring method often uses surveyors' staff, such as：Vernier caliper, micrometer, dial gauge etc., measurement are time-consuming
It is long, and due to the limitation of operating personnel's qualification, there are larger error, data are consistent for the gap of reading, face difference data
Property is poor.
The content of the invention
To solve the above-mentioned problems, the utility model integrated structure light three-dimensional measurement technology and binocular stereo vision principle,
Intelligent measuring is carried out to gap present in mechanical processing, assembling process, face difference, ensures to save people while measurement accuracy
Power.
The optical plane launched by laser is crossed to form feature striation with measured workpiece surface, and feature striation is being spatially located at
On optical plane, the characteristic image formed through perspective projection is located on the plane of delineation of camera, therefore, establishes optical plane and camera figure
The correspondence of image plane, is the effective way for establishing line-structured light vision measurement model.
The technical solution used for a kind of gap being used cooperatively with robot, face difference vision measurement device, including gauge head,
Supporting part, connecting flange, it is characterised in that the gauge head quantity is two, is connected by supporting part, the left and right sides is symmetrically divided
Cloth, and certain angle that slopes inwardly, are provided with camera and laser inside gauge head, the laser transmitting laser is in line style,
Camera front end is provided with optical filter, and the connecting flange is connected with supporting part, for being fixed with robot.
Preferably, 30 ° of angles installations of gauge head inward slant.
As the improvement of the utility model, camera and laser are installed inside gauge head, the laser transmitting laser is in
Line style, camera front end are provided with optical filter so that camera only gathers the image that laser strip is incident upon workpiece gap, that is, collects
Image is a laser strip projected image, effectively excludes background interference.
The utility model uses left and right double-measuring head structure, has double camera, twin-laser, and installation site is distinguished
Horizontal conllinear, i.e., the laser strip that two lasers are sent overlaps, and camera corresponds to swashing for the measured workpiece of shooting workpiece arranged on left and right sides
Striation projects scan image, make use of the principle of parallax in structural light three-dimensional measuring principle and binocular stereo vision to recover thing
The three-dimensional information of body.
Measured gap, the poor laser strip image in face obtained compared to single gauge head, the utility model structure design, employs a left side
Right two groups of lasers and camera, and certain angle of inclination is installed, more workpiece gaps, the detailed information of face difference can be obtained,
Image information is more complete, and can obtain the depth information of image.
As further improvement of the utility model, laser and camera lens are towards outside, with gauge head angle of inclination
It is consistent, and camera also tilts down certain angle, and angle value is preferably 30 ° so that camera is more convenient for gathering laser
Bar is incident upon the image on workpiece.
Another kind as the utility model improves, and the camera lens install upward, and installs above camera lens reflective
Mirror one, the reflective mirror one have certain inclination angle, and angle value is preferably 60 °, and in this scheme, laser is installed downward, and
Reflective mirror two is installed thereunder, the reflective mirror two has certain inclination angle, and two inclination angle of reflective mirror is preferably
45°；Reflective mirror one and reflective mirror two have the function that change light path, and specifically, the laser strip that laser is sent is by anti-
Two reflective vertical of light microscopic is incident upon on workpiece for measurement, the laser strip image in camera shooting reflective mirror one；By installing reflective mirror,
Camera and laser can right angle setting, occupied space size is big when particularly camera lens are transversely mounted, this scheme improves energy
Device entirety the space occupied is enough reduced, makes the overall structure of device compacter, meanwhile, reduce shell sizes and reach loss of weight
Effect.
Gauge head front end is covered with installation, dismountable structure designs such as the installation lid is preferably riveted, is spirally connected, in correspondence
It is transparent material at camera, laser positions, protective device internal structure, while easy to be replaced in time when being stained.
Workpiece gap, face difference visible detection method include the following steps：
S1. system electrification initializes, and laser and camera are opened, and robot is moved to according to detection track set in advance
Designated position, chooses measurement pattern, and the left and right camera collection laser strip of PC control is projected in the image on workpiece；
S2. host computer carries out image procossing, extracts the striation of laser strip image to the two width laser strip images collected
Center line, by camera monocular and binocular calibration, obtains the transformational relation between photo coordinate system and world coordinate system, carries out
Image Stereo matching, two width optical losses line images synthesis, one secondary pending image according to transformational relation obtained by calibrating, obtains
Take the space three-dimensional point cloud coordinate of pending image；
S3. host computer chooses characteristic point in pending image, and according to its 3 d space coordinate information, calculates measured workpiece
Gap or face difference, and carry out interface display.
Preferably, in S1 steps, measurement pattern has alternative, and measurement pattern includes intelligent measure pattern, gap
Measurement pattern, face difference measurements pattern, single-measurement pattern, group measurement pattern, host computer acquiescence carries out intelligent measure pattern, described
In intelligent measure pattern, host computer judges calculated gap value or face difference, if in image according to the structure light image feature of collection
At the same time there are gap and face difference feature, then calculate the two and show；In addition, user can also be according to actual needs in step sl
Clearance measurement pattern, face difference measurements pattern, single-measurement pattern, group measurement pattern are chosen in advance；
Under the clearance measurement pattern, only calculate measured workpiece gap width and shown, likewise, poor in the face
Under measurement pattern, only calculate measured workpiece face difference and shown；Single-measurement pattern is suitable for user to multiple works to be measured
The same position of part is detected, and by testing result real-time display, while upper computer software can generate corresponding report, be easy to
User judges the quality of batch workpiece；Group measurement pattern is detected multiple positions of a workpiece for measurement suitable for user,
Testing result real-time display, the report of upper computer software generation at this time, can assist in the quality that user judges workpiece entirety.It is more
The selection of kind measurement pattern so that user's operation is more simple and clear, and workpiece calibration has more specific aim, and testing result is more directly perceived
Change.
Further, since the original image for projecting laser strip is relatively thick, profile is not clear enough, it is in the step S2
Obtain clear-cut laser strip center line image, described image Processing Algorithm includes image denoising, binaryzation, at sub-pix
Reason.
By calibration, the cloud data in the laser strip image that two cameras measure under unified coordinate system overlaps, in order to carry
Height synthesis precision, match point can choose multiple points, and Stereo matching, the synthesis of two images are carried out using coordinate information.
Characteristic point is chosen according to the fringe projection characteristics of image of workpiece for measurement in the step S3, that is, chooses light stripe centric line
Disconnected most outer point.So-called gap refers to that workpiece leaves gap in the horizontal direction, therefore laser strip projects to gap
Occurred fracture when upper in the horizontal direction, non-continuous event, in the utility model measuring method, characteristic point is chosen and is based on this
The phenomenon of rupture of sample, finds point of the light stripe centric line breaking part most at outer, carries out characteristic point three-dimensional coordinate analysis, similarly, institute
Meaning face difference refers to be uneven on the vertical direction of workpiece, and therefore, the image in the vertical direction of laser strip projection is discontinuous, special
Sign point is chosen here.
In conclusion the utility model compared with the prior art, has the advantages and positive effects of：
The utility model device and method, combines robot automation and high efficiency feature, and integrated structure light is three-dimensional to be surveyed
Amount technology and binocular stereo vision principle, realize and the intelligence of workpiece gap, face difference are measured in real time and is intuitively shown, user can
Obtained by operating in a key and treat measurement information, convenient simple, accuracy height.
Brief description of the drawings
Fig. 1 is the overall structure figure of the utility model device；
Fig. 2 is the overlooking structure figure of the utility model device；
Fig. 3 is the first frame mode schematic diagram inside the single gauge head of the utility model device；
Second of frame mode schematic diagram inside the single gauge head of Fig. 4 the utility model devices；
Fig. 5 is the utility model method flow diagram；
Fig. 6 is one camera, laser collection workpiece gap laser strip perspective view；
Fig. 7 is the utility model device double-measuring head structure collection workpiece gap laser strip perspective view and synthesis signal
Figure.
Fig. 8 is the utility model gap width, face mathematic interpolation process schematic.
In figure：Gauge head 1, camera 11, laser 12, reflective mirror 1, reflective mirror 2 14, supporting part 2, connecting flange 3, number
According to interface 4.
Embodiment
For that can further illustrate the utility model content of the utility model, feature and effect, the following examples are hereby given in detail
Carefully it is described as follows：
It is to be appreciated that in the de-scription, term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " is based on attached drawing institutes
The orientation or position relationship shown, is for only for ease of description the utility model and simplifies description, rather than indicates or imply and is signified
Device or element must have specific orientation, with specific azimuth configuration and operation, it is impossible to be interpreted as to the utility model
Limitation.
Referring to Fig. 1, Fig. 2, a kind of gap being used cooperatively with robot of the utility model, face difference vision measurement device, bag
Include gauge head 1, camera 11, laser 12, supporting part 2, connecting flange 3, data-interface 4.
1 quantity of gauge head is two, symmetrical at left and right sides of device, in order to slope inwardly beneficial to observation, gauge head
Certain angle；Camera 11 and laser 12 be installed, it is in line style that the laser 12, which launches laser, camera 11 inside gauge head 1
Front end is provided with optical filter, and the utility model uses left and right double-measuring head structure, has double camera, twin-laser, and install
Position is horizontal conllinear respectively, i.e., the laser strip that two lasers are sent overlaps, and camera is corresponded between shooting workpiece arranged on left and right sides
Gap, face difference laser strip projects images.
The measured gap laser strip image obtained compared to single gauge head（As shown in Figure 6）, the utility model structure design, is adopted
With two groups of left and right laser and camera, and certain angle of inclination is installed, the detailed information of more workpiece gaps can be obtained
（As described in Figure 7）, image information is more complete.
Referring to Fig. 3, the first embodiment of 1 internal structure of gauge head, laser are equal with camera lens in the utility model
Towards outside, it is consistent with gauge head angle of inclination, and camera 11 also tilts down certain angle, and angle value is preferably
30 ° so that camera is more convenient for gathering the image that laser strip is incident upon on workpiece.
Referring to Fig. 4, second of embodiment of 1 internal structure of gauge head, the camera lens are pacified upward in the utility model
Dress, and reflective mirror 1 is installed above camera lens, the reflective mirror 1 has certain inclination angle, and angle value is in the present embodiment
In be chosen for 60 °, in this scheme, laser 12 is also installed downward, and thereunder install reflective mirror 2 14, the reflective mirror two
14 have certain inclination angle, and 2 14 inclination angle of reflective mirror is 45 °；Reflective mirror 1 and reflective mirror 2 14, which have, changes light
The effect on road, specifically, the laser strip that laser is sent are incident upon on workpiece for measurement by 2 14 reflective vertical of reflective mirror,
Laser strip image in camera shooting reflective mirror 1；By installing reflective mirror, camera and laser can right angle setting, reduce
Occupied space, makes the overall structure of device compacter, has reached the effect of loss of weight.
Two kinds of embodiments can also intersect implementation, such as only in the unilateral installation reflective mirror of camera lens.
Further, 1 front end of gauge head is covered with installation, dismountable structures such as the installation lid is preferably riveted, is spirally connected
Design, be transparent material at corresponding camera, laser positions, protective device internal structure, while when being easy to be stained in time more
Change.
During detection, robot end is connected by connecting flange 3 with the utility model device, and measuring device is connect by data
Mouth 4 is communicated with host computer, and specifically, the initialization of S1. system electrifications, laser and camera are opened, and robot is according to pre-
The detection track first set moves to designated position, and feedback signal occurs and is chosen and measured according to measurement demand to host computer, user
Pattern, the left and right camera collection laser strip of PC control are projected in the image on workpiece；
Further, in S1 steps, measurement pattern has alternative, and host computer acquiescence carries out intelligent measure pattern,
In the intelligent measure pattern, host computer judges calculated gap value or face difference, if figure according to the structure light image feature of collection
Then calculate the two there are gap and face difference feature at the same time as in and show；In addition, user can also be according to actual needs in step
Clearance measurement pattern, face difference measurements pattern, single-measurement pattern, group measurement pattern are chosen in S1 in advance；
Under the clearance measurement pattern, only calculate measured workpiece gap width and shown, likewise, poor in the face
Under measurement pattern, only calculate measured workpiece face difference and shown；Single-measurement pattern is suitable for user to multiple works to be measured
The same position of part is detected, and by testing result real-time display, while upper computer software can generate corresponding report, be easy to
User judges the quality of batch workpiece；Group measurement pattern is detected multiple positions of a workpiece for measurement suitable for user,
Testing result real-time display, the report of upper computer software generation at this time, can assist in the quality that user judges workpiece entirety.It is more
The selection of kind measurement pattern so that user's operation is more simple and clear, and workpiece calibration has more specific aim, and testing result is more directly perceived
Change.
During measurement, user only need to measure pattern selection, you can observed in real time in host computer interface according to measurement demand
Measured data, easy to operate, accuracy is high.
S2. host computer carries out image procossing, described image Processing Algorithm includes to the two width laser strip images collected
Image denoising, binaryzation, sub-pix processing.Clear-cut light stripe centric line, such as Fig. 7 are extracted from original laser bar image,
By camera monocular and binocular calibration, the transformational relation between photo coordinate system and world coordinate system is obtained, image is carried out and stands
Body matches, and by two width optical losses line images synthesis, one secondary pending image, according to transformational relation obtained by calibrating, obtains and waits to locate
Manage the space three-dimensional point cloud coordinate of image；
S3. host computer chooses the disconnected most outer of light stripe centric line according to the fringe projection characteristics of image of workpiece for measurement
Point is used as characteristic point（Such as Fig. 7）, according to the 3 d space coordinate information of the characteristic point of left and right two, calculate measured workpiece gap or
Face difference（Such as d values in Fig. 7）, and carry out interface display.Specifically, as shown in figure 8, making the parallel lines of light stripe centric line respectively
With vertical line, by calculating characteristic point to the distance of parallel lines, must appear difference；Characteristic point is calculated to the distance of vertical line, is obtained
Go out gap width.
Specific case used herein is set forth the principle and embodiment of the utility model, above example
Explanation be only intended to help to understand the method and its core concept of the utility model.It should be pointed out that for the art
For those of ordinary skill, on the premise of the utility model principle is not departed from, some change can also be carried out to the utility model
Into and modification, these improve and modification also fall into the protection domain of the utility model claims.
Claims (7)
1. a kind of gap being used cooperatively with robot, face difference vision measurement device, it is characterised in that including gauge head（1）, support
Portion（2）, connecting flange（3）, the gauge head（1）Quantity is two, passes through supporting part（2）Connection, the left and right sides is symmetrical, and
Slope inwardly certain angle, gauge head（1）Inside is provided with camera（11）And laser（12）, the laser（12）Transmitting swashs
Light is in line style, camera（11）Front end is provided with optical filter, the connecting flange（3）With supporting part（2）It is connected, is used for and robot
It is fixed.
2. a kind of gap being used cooperatively with robot according to claim 1, face difference vision measurement device, its feature exist
In the gauge head（1）Intilted angle is 30 °.
3. a kind of gap being used cooperatively with robot according to claim 1, face difference vision measurement device, its feature exist
In the laser（12）, camera（11）Camera lens is towards outside.
4. a kind of gap being used cooperatively with robot according to claim 3, face difference vision measurement device, its feature exist
In the camera（11）Tilt down 30 ° of angles.
5. a kind of gap being used cooperatively with robot according to claim 1, face difference vision measurement device, its feature exist
In the camera（11）Camera lens is installed upward, and reflective mirror one is installed above camera lens（13）, the reflective mirror one（13）Have
60 ° of certain inclinations angle.
6. a kind of gap being used cooperatively with robot, face difference vision measurement device according to claim 1 or 5, it is special
Sign is, the laser（12）Install downward, and reflective mirror two is installed thereunder（14）, the reflective mirror two（14）Have
Certain inclination 45° angle.
7. a kind of gap being used cooperatively with robot as claimed in any of claims 1 to 5, face difference vision measurement
Device, it is characterised in that the gauge head（1）There is installation to cover for front end, and the peace is covered on corresponding camera, is at laser positions
Transparent material.
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| CN201721814008.7U CN207280389U (en) | 2017-12-22 | 2017-12-22 | A kind of gap being used cooperatively with robot, face difference vision measurement device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107843202A (en) * | 2017-12-22 | 2018-03-27 | 易思维（天津）科技有限公司 | A kind of gap, face difference vision measurement device and method being used cooperatively with robot |
| CN111780683A (en) * | 2020-06-29 | 2020-10-16 | 易思维（杭州）科技有限公司 | Portable scanning system and method of use |
-
2017
- 2017-12-22 CN CN201721814008.7U patent/CN207280389U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107843202A (en) * | 2017-12-22 | 2018-03-27 | 易思维（天津）科技有限公司 | A kind of gap, face difference vision measurement device and method being used cooperatively with robot |
| CN107843202B (en) * | 2017-12-22 | 2023-09-08 | 易思维（天津）科技有限公司 | Gap and face difference vision measurement device and method matched with robot |
| CN111780683A (en) * | 2020-06-29 | 2020-10-16 | 易思维（杭州）科技有限公司 | Portable scanning system and method of use |
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| CB03 | Change of inventor or designer information |
Inventor after: Feng Weichang Inventor after: Guo Lei Inventor before: Feng Weichang Inventor before: Guo Yin Inventor before: Yin Shibin Inventor before: Guo Lei |