CN208270904U - A kind of flying-vision locator - Google Patents
A kind of flying-vision locator Download PDFInfo
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- CN208270904U CN208270904U CN201820892974.9U CN201820892974U CN208270904U CN 208270904 U CN208270904 U CN 208270904U CN 201820892974 U CN201820892974 U CN 201820892974U CN 208270904 U CN208270904 U CN 208270904U
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- view finder
- flying
- reflecting mirror
- vision
- locator
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Abstract
The utility model relates to a kind of flying-vision locators, belong to flying-vision positioning field.The technical problem to be solved by the utility model is to provide a kind of flying-vision locators reasonable in design, convenient for safeguarding.A kind of flying-vision locator described in the utility model, View finder moves between the first location and the second location and across reflecting mirror, the light of reflecting mirror reflectance target position is to View finder, View finder to the image capture in reflecting mirror, so as in the case where View finder does not stop mobile to object away from View finder carry out on one side take phase.The program compared with the existing technology, does not need the mobile mechanism of setting driving reflecting mirror and is conducive to the maintenance of flying-vision locator to enormously simplify the structure of flying-vision locator, reduce the use cost of flying-vision locator.
Description
Technical field
The utility model relates to a kind of flying-vision locators, belong to flying-vision positioning field.
Background technique
Flying-vision positioning system, which mainly takes pictures to object using optical vision system, takes phase, with the position and angle to object
Degree is positioned.Flying-vision positioning system is used widely in automatic field.
Illustratively, when robot carries out material carrying or transfer, optical vision system is typically necessary in object
Take pictures immediately below material to material, in order to material position and angle etc. position, then place material when
Wait the amendment for carrying out position and angle.
Flight camera is one kind of vision prescription, is different from other vision prescriptions, and its feature is flight camera to machine
When device people pickup material shoots and analyzes, the track route of robot is not influenced, does not extend motion path, so as to
To improve robot working efficiency.
The existing popular scheme of flight camera, is that installation Shi Liao mechanism and camera, camera are general in robot work head
It cannot be in face of picking up immediately below material structure, so cannot directly pass through the information obtained immediately below material of taking pictures.Its method solved
It is that the moveable reflecting mirror of one side is installed again in work head, after robot picks up material, reflecting mirror is controlled by dynamic, by object
The underface figure of material is mutually reflected to camera, is taken pictures and is analyzed.What this process was all realized in work head motion process, no
Influence robot ambulation route.
Because flight phase function is exempted from largely to improve working efficiency, in the field of many exquisite efficiency, such as in SMT
Using more in chip mounter field.
Flight camera in the prior art, requires between Shi Liao mechanism and camera, installs a moveable reflection
The transformation of mirror realization optical path.This structure will make that robot architecture is complicated, moving component is more, increase the use of robot at
This, also, it is unfavorable for the maintenance of robot.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of flying-visions reasonable in design, convenient for safeguarding
Locator.
The utility model solves technical solution used by above-mentioned technical problem:
A kind of flying-vision locator, including View finder and reflecting mirror, View finder is between the first location and the second location
It moves back and forth, the reflecting mirror is between the first position and the second position, also, the View finder is described the
The process moved between one position and the second position is across the reflecting mirror, the light of reflecting mirror reflectance target position
To View finder, the View finder obtains the object in the reflecting mirror when moving between the first position and the second position
Picture.
A kind of flying-vision locator described in the utility model, View finder move between the first location and the second location
It is dynamic, and View finder, across reflecting mirror, the light of reflecting mirror reflectance target position is to View finder, and View finder is to the object in reflecting mirror
As capture, so as in the case where View finder does not stop mobile to object away from View finder carry out on one side take phase.The party
Case compared with the existing technology, does not need the mobile mechanism of setting driving reflecting mirror, to enormously simplify flying-vision locator
Structure, be conducive to the maintenance of flying-vision locator, reduce the use cost of flying-vision locator.
Preferably, the angle of the reflecting mirror and horizontal plane is the half of the angle of the View finder and horizontal plane.
The program is conducive to the phase that takes of View finder, and the available relatively sharp figure phase of View finder optimizes flying-vision
The performance of locator.
Preferably, the angle of the View finder and horizontal plane is 45 degree, and the angle of the reflecting mirror and horizontal plane is 22.5
Degree.
The angle is conducive to the assembly of View finder and reflecting mirror, and flying-vision locator is convenient for safeguarding.
Preferably, which further includes the trigger for triggering View finder and taking phase, triggers the trigger institute
It states View finder and takes phase.
The setting of trigger is mainly used for control View finder and takes phase, optimizes the operating characteristics of View finder.
Preferably, which further includes light aid, and the light aid is to target position light filling.
Light aid is mainly used for target position light filling, so that the available relatively sharp figure phase of View finder.
The utility model additionally provides a kind of flying-vision localization method, comprising the following steps:
S10: installation View finder and reflecting mirror；
S20: View finder moves back and forth between the first location and the second location, and View finder is across the reflecting mirror,
The light of reflecting mirror reflectance target position is to View finder；
S30: the image in reflecting mirror is obtained when View finder moves between the first location and the second location.
A kind of flying-vision localization method provided by the utility model, View finder move between the first location and the second location
It is dynamic, and View finder, across reflecting mirror, the figure of reflecting mirror reflectance target position takes target position by View finder mutually to View finder
Picture.The position that the program does not need mobile mirror can be particularly suitable for object away from View finder target position capture
Side carry out taking phase.
Preferably, View finder uses light aid to target position light filling when taking phase in the S30.
Light aid is mainly used for target position light filling, so that View finder can obtain relatively sharp figure phase.
A kind of robot, including view flight feel that locator, the flying-vision locator are disclosed in above-mentioned technical proposal
Flying-vision locator.
A kind of robot provided by the utility model, disclosed flying-vision locator is to target position using the above scheme
Phase is taken, the program compared with the existing technology, does not need the driving mechanism that driving reflecting mirror is added in robot, to simplify
The structure of robot is conducive to the maintenance of robot.In addition, not setting the driving mechanism of driving reflecting mirror, robot can be improved
Stability when operation optimizes the performance of robot.
Preferably, which further includes rack and dispenser, and the dispenser is between the first location and the second location
Mobile, the reflecting mirror is fixed on the rack.
Reflecting mirror is fixed in rack, and reflecting mirror is easy to assembly and fixation, improves the stability of robot.
Preferably, the View finder is fixed on the dispenser, also, the View finder is mobile with the dispenser.
View finder is fixed on dispenser, drives View finder mobile by dispenser, the net synchronization capability of View finder and dispenser
It is good, optimize the performance of robot.
A kind of flying-vision locator provided by the utility model, reflexes to View finder for light using reflecting mirror, thus
Deviate from View finder to an object phase side-draw with can be convenient, simplifies the structure of flying-vision locator.
A kind of flying-vision localization method provided by the utility model, reflexes to View finder for light using reflecting mirror, should
Scheme is suitable for carrying out taking phase away from the side of View finder to object.
A kind of robot provided by the utility model, the light using reflecting mirror by object away from the side of View finder reflect
To View finder, View finder carries out taking phase in which can be convenient to object away from the side of View finder, simplifies the structure of robot, machine
Device people is convenient for safeguarding.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the schematic diagram of rack.
Label declaration:
1, View finder, 2, reflecting mirror, 3, trigger, 4, light aid, 100, rack, 101, dispenser, 102, guide rail, 103,
Mechanical arm.
Specific embodiment
The utility model is described in further detail below with reference to embodiment, following embodiment is to the utility model
Explanation and the utility model is not limited to following embodiment.
Embodiment 1
Such as Fig. 1, a kind of flying-vision locator, including View finder 1 and reflecting mirror 2, View finder 1 is in first position and second
It is moved back and forth between position, the reflecting mirror 2 described takes phase between the first position and the second position
The process that device 1 moves between the first position and the second position is reflected across the reflecting mirror 2, the reflecting mirror 2
The light of target position to View finder 1, the View finder 1 obtains when moving between the first position and the second position
Take the image in the reflecting mirror 2.
View finder 1 can have the device of camera function for industrial camera etc., and View finder 1 is conventional in the prior art fills
It sets, specific structure not reinflated narration herein.
Reflecting mirror 2 is mainly used for reflecting the light of object to View finder 1, is carried out by View finder 1 to the image in reflecting mirror 2
It takes pictures, with information such as the position, the angles that obtain object.
When needing to carry out taking phase away from the side of View finder 1 to object, make object between View finder 1 and reflecting mirror 2,
The image for the side that object deviates from View finder 1 can be reflexed to View finder 1 by reflecting mirror 2, be carried out taking phase by View finder 1.At this point,
There is certain angle, it is anti-to block reflecting mirror 2 to avoid object between reflecting mirror 2 and object or between View finder 1 and reflecting mirror 2
The light penetrated takes phase conducive to View finder 1.
Technical solution disclosed in the present embodiment is right by View finder 1 due to being reflected using light of the reflecting mirror 2 to object
Image capture in reflecting mirror 2, the position of view-finder moves back and forth between the first location and the second location in the program, and anti-
The position for penetrating mirror 2 does not need to change, and carries out taking phase away from the side of View finder 1 to object with can be convenient using reflecting mirror 2, letter
Structure, the flying-vision locator for having changed flying-vision locator are convenient for safeguarding.
Embodiment 2
The present embodiment in conjunction with the embodiments 1 limits the rigging position of View finder 1 and reflecting mirror 2.
The angle of the reflecting mirror 2 and horizontal plane is the half of the View finder 1 and the angle of horizontal plane.
The angle of View finder 1 and horizontal plane refers to the capture angle of View finder 1 and the angle of horizontal plane, i.e. View finder 1
The angle of axis and horizontal plane.
For example, View finder 1, which generally comprises, takes phase eyeglass, the angle of View finder 1 and horizontal plane be take the axis of phase eyeglass with
The angle of horizontal plane.
The program is greater than the angle of reflecting mirror 2 and horizontal plane due to the angle of View finder 1 and horizontal plane, is conducive to View finder
1 capture, and make flying-vision locator structure compact.
Embodiment 3
The present embodiment in conjunction with the embodiments 2, is further limiting to embodiment 2.
The angle of the View finder 1 and horizontal plane is 45 degree, and the angle of the reflecting mirror 2 and horizontal plane is 22.5 degree.
The program is more advantageous to the phase that takes of View finder 1, and keeps flying-vision locator structure more compact.
The angle and reflecting mirror 2 of View finder 1 and horizontal plane and the angle of horizontal plane may be other angles, this field skill
Art personnel can be rationally arranged according to installation space.
Embodiment 4
The present embodiment can be the optimization to above-mentioned technical proposal in conjunction with the embodiments 1 any embodiment into embodiment 3
Scheme.
Such as Fig. 1, which further includes the trigger 3 for triggering View finder 1 and taking phase, triggers the trigger 3
The View finder 1 takes phase.
Trigger 3 has the function similar to switch.View finder 1 is taken and is mutually operated after i.e. trigger 3 is triggered.Triggering
Device 3 can be by triggering by hand, such as the shutter of View finder 1.Trigger 3 can also be by the drive system of the movement of drive View finder 1
Triggering, such as travel switch or sensor etc..
The rigging position and triggering mode of trigger 3 are rationally arranged according to the use environment of flying-vision locator,
Not reinflated narration herein.Those skilled in the art may set according to actual needs.
Embodiment 5
The present embodiment 1 any embodiment into embodiment 4 in conjunction with the embodiments, is the optimization side to above-mentioned technical proposal
Case.
Such as Fig. 1, which further includes light aid 4, and the light aid 4 is to target position light filling.
Light aid 4 can be LED light or other devices with illumination functions.Target position refers to that View finder 1 is intended to obtain
The position of figure phase, i.e. object deviate from the side of View finder 1.
Light aid 4 is mainly used for carrying out light filling to target position, so that View finder 1 can obtain relatively sharp figure phase.
The light that light aid 4 issues is irradiated in target position.For example, it is desired to when carrying out taking phase away from the side of View finder 1 to object,
The light that light aid 4 issues is the side for being irradiated in object and deviating from View finder 1.
Embodiment 6
The present embodiment based on the above embodiment, discloses a kind of flying-vision localization method.So that View finder 1 can be square
Just object is obtained away from the figure phase of the side of View finder 1.
A kind of flying-vision localization method, comprising the following steps:
S10: installation View finder 1 and reflecting mirror 2 take for View finder 1 and mutually prepare；
S20: View finder 1 moves back and forth between the first location and the second location, and View finder 1 is across the reflecting mirror
2, the light of 2 reflectance target position of reflecting mirror to View finder 1；
S30: the image in reflecting mirror is obtained when View finder 1 moves between the first location and the second location.
Method disclosed in the present embodiment obtains object using reflecting mirror 2 away from the figure of the side of View finder 1 in which can be convenient
Phase.
Embodiment 7
The present embodiment in conjunction with the embodiments 6, is the prioritization scheme to embodiment 6.
View finder 1 uses light aid 4 to target position light filling when taking phase in the S30.
There can be the device of illumination functions to carry out light filling to target position using LED light etc. in this step.
Embodiment 8
Present embodiment discloses a kind of robots, introduce a kind of concrete application of above-mentioned technical proposal.
A kind of robot, including flying-vision locator, the flying-vision locator are flying-vision disclosed above
Locator.
Robot in the present embodiment carries out taking phase in which can be convenient to object away from the side of View finder 1.
A kind of flying-vision locator disclosed above is not only used for robot, also can be applied to other fields, right
In needing to carry out object to take the field of phase applicable.
Embodiment 9
The present embodiment in conjunction with the embodiments 8, is being further described to embodiment 8.
As shown in Figure 1, Figure 2, by taking the robot of carrying or mobile object as an example, which further includes rack 100 and dispenser
101, the dispenser 101 moves between the first location and the second location, and the reflecting mirror 2 is fixed on the rack 100
On, dispenser 101 can have the structure for grabbing, putting down object for vacuum chuck or handgrip etc..First position can with feeding position,
The second position can be discharge position.
There is guide rail 102 and mechanical arm 103, mechanical arm 103 can be moved along guide rail 102, machine in rack 100
Tool arm 103 can be driven mobile by screw pair or be driven by driving equipments such as linear motor, hydraulic cylinders, and dispenser 101 is solid
Due on mechanical arm 103, and it is mobile with mechanical arm 103, object is moved to the second position by first position.
Mechanical arm 103 drives dispenser 101 to do unidirectional reciprocating motion or Multidirectional reciprocating movement, i.e., mechanical arm 103 can
Think single-shaft mechanical arm arm 103 or multi-axis mechanical arm 103.
Guide rail 102 can be an integral structure with rack 100, alternatively, guide rail 102 can also be bolted on rack
On 100.
The reflecting mirror 2 is fixed in the rack 100.Reflecting mirror 2 can be bonded or be fixed by screws in rack 100
On.
View finder 1 is with 101 synchronizing moving of dispenser.
Specifically, dispenser 101 moves after grabbing object along guide rail 102, at this point, View finder 1 is synchronous with dispenser 101
Mobile, when View finder 1 moves between the first location and the second location, View finder 1 carries out object to take phase.Robot
Control system obtains the figure phase information that View finder 1 obtains, when dispenser 101 is moved to discharge position, by mechanical arm 103
The location information of object is corrected, then dispenser 101 puts down object in discharge position.
Robot may be other needs during the work time to the robot of object capture.
Embodiment 10
The present embodiment in conjunction with the embodiments 9, is the prioritization scheme to embodiment 9.
Such as Fig. 1, the View finder 1 is fixed on the dispenser 101, also, the View finder 1 is with the dispenser
101 is mobile.
View finder 1 can be fixed on dispenser 101 by screw or bolt.View finder 1 can also be fixed on manipulator
On arm 103.
Trigger 3 disclosed in embodiment 4, embodiment 5, light aid 4 can use following fixed solution:
Trigger 3 can be fixed in rack 100, when mechanical arm 103 is moved to the position, trigger 3 be caused to trigger,
View finder 1 carries out capture operation.At this point, trigger 3 can be travel switch or sensor.For example, View finder 1 and robot
Control system communication simultaneously controls work by the control system of robot, and the control system communication of trigger 3 and robot is triggering
After device 3 is triggered, the control system control work of View finder 1 of robot carries out capture operation.
Trigger 3 can be the shutter etc. of View finder 1 when View finder 1 is mobile by hand.To taking phase when View finder 1 is mobile by hand
The operation of device 1 is more flexible, and the specific structure of trigger 3 is relatively flexible, and those skilled in the art can according to need setting,
Not reinflated narration herein.
Light aid 4 can be fixed on around reflecting mirror 2.For example, light aid 4 can be bonded or is fixed on instead by screw
It penetrates around mirror 2.Light aid 4, trigger 3, View finder 1 can use same power supply power supply.
Light aid 4 can be worked in a manner of being always on, such as robot is activated rear light aid 4 and shines.
Light aid 4 can also control work by the control system of robot, for example, after trigger 3 is triggered, robot
Control system first controls light aid 4 and lights, and then controls the control of robot after the completion of View finder 1 takes phase, View finder 1 to take phase again
System control light aid 4 processed extinguishes, and the program can be energy saving, optimizes the service performance of light aid 4.
In addition, it should be noted that, the specific embodiments described in this specification, the shape of parts and components are named
Title etc. can be different.All equivalent or simple changes done according to structure, feature and principle described in the concept of the patent of the utility model,
It is included in the protection scope of the utility model patent.Those skilled in the art of the present invention can be to being retouched
The specific embodiment stated does various modifications or additions or is substituted in a similar manner, without departing from the utility model
Structure or beyond the scope defined by this claim, all should belong to the protection range of the utility model.
Claims (5)
1. a kind of flying-vision locator, it is characterized in that: including View finder (1) and reflecting mirror (2), View finder (1) is at first
Set and moved back and forth between the second position, the reflecting mirror (2) between the first position and the second position, and
And the process that moves between the first position and the second position of the View finder (1) is across the reflecting mirror (2),
The light of reflecting mirror (2) the reflectance target position to View finder (1), the View finder (1) the first position with it is described
The image in the reflecting mirror (2) is obtained when moving between the second position.
2. a kind of flying-vision locator according to claim 1, it is characterized in that: the reflecting mirror (2) and horizontal plane
Angle is the View finder (1) and the half of the angle of horizontal plane.
3. a kind of flying-vision locator according to claim 2, it is characterized in that: the View finder (1) and horizontal plane
Angle is 45 degree, and the angle of the reflecting mirror (2) and horizontal plane is 22.5 degree.
4. according to claim 1 to a kind of flying-vision locator described in 3 any one, it is characterized in that: the flying-vision is fixed
Position device further includes the trigger (3) for triggering View finder (1) and taking phase, triggers the trigger (3) View finder (1) and takes phase.
5. according to claim 1 to a kind of flying-vision locator described in 3 any one, it is characterized in that: the flying-vision is fixed
Position device further includes light aid (4), and the light aid (4) is to target position light filling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820892974.9U CN208270904U (en) | 2018-06-08 | 2018-06-08 | A kind of flying-vision locator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820892974.9U CN208270904U (en) | 2018-06-08 | 2018-06-08 | A kind of flying-vision locator |
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| Publication Number | Publication Date |
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| CN208270904U true CN208270904U (en) | 2018-12-21 |
Family
ID=64689922
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820892974.9U Active CN208270904U (en) | 2018-06-08 | 2018-06-08 | A kind of flying-vision locator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873567A (en) * | 2018-06-08 | 2018-11-23 | 杭州快易信息技术有限公司 | A kind of flying-vision locator, flying-vision localization method and robot |
-
2018
- 2018-06-08 CN CN201820892974.9U patent/CN208270904U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873567A (en) * | 2018-06-08 | 2018-11-23 | 杭州快易信息技术有限公司 | A kind of flying-vision locator, flying-vision localization method and robot |
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| TR01 | Transfer of patent right |
Effective date of registration: 20200402 Address after: 310000 west of floor 2, building 3, No. 8-2, Keji Avenue, Yuhang street, Yuhang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou compte Precision Technology Co., Ltd Address before: 310012 room 602, 1 building, 7 West Gate Road, Xihu District, Hangzhou, Zhejiang. Co-patentee before: NEODEN TECHNOLOGY Co.,Ltd. Patentee before: HANGZHOU KUAIYI INFORMATION TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |