CN209962289U - Screw hole calibration device adopting three-position reconstruction - Google Patents
Screw hole calibration device adopting three-position reconstruction Download PDFInfo
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- CN209962289U CN209962289U CN201920884550.2U CN201920884550U CN209962289U CN 209962289 U CN209962289 U CN 209962289U CN 201920884550 U CN201920884550 U CN 201920884550U CN 209962289 U CN209962289 U CN 209962289U
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Abstract
The utility model discloses an adopt screw calibration device of tribit reconsitution, including gathering the platform, it is provided with the fixed bolster all around to gather the platform, set up the camera subassembly on the fixed bolster, the camera subassembly includes perpendicular to the perpendicular camera and the slope of gathering the platform in the face of the slope camera of gathering the platform, the camera subassembly is connected with central processing unit. In operation, place the product on gathering the platform, through the shooting of camera, carry out the image data acquisition of the product multiple angle to can gather many times and cover. And transmitting the shot data to a central processing unit, and positioning the screw hole coordinates by a three-dimensional reconstruction technology. After the image data of the product to be locked and the coordinate system are fully acquired and calibrated, the position of the screw hole in the three-dimensional plane of the product can be determined as the coordinate position through point source filtration. The device has simple mechanism, lower requirements on hardware and identification environment and better identification result on irregular products.
Description
Technical Field
The utility model relates to a screw machine field, especially a screw calibration device who adopts tribit reconsitution.
Background
Today's mechanical arm with machine vision can not measure the three-dimensional data of object to can't carry out accurate positioning to the screw hole of different positions, be difficult to look over the product in addition in the course of working. The traditional screw machine vision system adopts plane vision, so that the recognized screw hole coordinates are only based on a two-dimensional plane, which brings about a plurality of problems for locking irregular products. In order to ensure real-time performance and filter interference, most of the traditional two-dimensional object identification is based on shape matching of contour features, and a feature extraction and classifier is used, so that requirements on hardware and an identification environment are high, and the identification speed is low. Most of the existing three-dimensional topography measuring systems adopt ideal mathematical models, so that cameras, projectors and reference planes have strict geometric relations, and system hardware is difficult to build.
SUMMERY OF THE UTILITY MODEL
The present invention aims to solve at least one of the above-mentioned technical problems in the related art to a certain extent. Therefore, the utility model provides an adopt screw calibration device of tribit reconsitution, the mechanism is simple, and is lower to hardware and discernment environmental requirement, and is better to the recognition result of irregular product moreover.
The utility model provides a technical scheme that its technical problem adopted is:
the utility model provides an adopt screw calibration device of tribit reconsitution, includes gathers the platform, it is provided with the fixed bolster all around to gather the platform, set up camera subassembly on the fixed bolster, camera subassembly includes the perpendicular camera and the slope camera of slope face to gathering the platform of perpendicular to gathering the platform, camera subassembly is connected with central processing unit.
As an improvement of the technical scheme, the inclined cameras are uniformly distributed around the acquisition platform.
As a further improvement of the above technical solution, the camera assembly is detachably fixed to the fixing bracket.
Furthermore, a slide way is arranged on the fixed support, a slide block is arranged in the slide way, and the camera assembly is fixed on the slide block.
Further, the central processing unit is connected with a control panel used for displaying the position of the screw hole and controlling the camera assembly.
The utility model discloses in one or more technical scheme have following beneficial effect at least: the utility model discloses an one of them technical scheme is in operation, and single product of sampling is placed it on gathering the platform, through the shooting of camera, carries out the image data acquisition of a plurality of angles of product to can gather many times and cover. And transmitting the shot data to a central processing unit, and positioning the screw hole coordinates by a three-dimensional reconstruction technology. After the image data of the product to be locked and the coordinate system are fully acquired and calibrated, the position of the screw hole in the three-dimensional plane of the product can be determined as the coordinate position through point source filtration. The device has simple mechanism, lower requirements on hardware and identification environment and better identification result on irregular products.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic diagram of an embodiment of the present invention.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
The embodiments of the present invention will be further explained with reference to the drawings.
Referring to fig. 1, the utility model discloses an adopt screw calibration device of tribit reconsitution, including collection platform 100, collection platform 100 is provided with fixed bolster 200 all around, set up camera assembly 300 on the fixed bolster 200, camera assembly 300 includes that the vertical camera 310 and the slope of vertical orientation to collection platform 100 are to the slope camera 320 of collection platform 100, camera assembly 300 is connected with central processing unit. During the operation of the device, a single product is sampled and placed on the acquisition platform 100, and image data acquisition of multiple angles of the product is carried out through shooting of the camera assembly 300, and multiple times of acquisition and coverage can be carried out. And transmitting the shot data to a central processing unit, and positioning the screw hole coordinates by a three-dimensional reconstruction technology. After the image data of the product to be locked and the coordinate system are fully acquired and calibrated, the position of the screw hole in the three-dimensional plane of the product can be determined as the coordinate position through point source filtration. The device has simple mechanism, lower requirements on hardware and identification environment and better identification result on irregular products.
The principle of stereovision is shown in fig. 2, and for any point P on the surface of an object in space, if we use two cameras C1 and C2 to simultaneously observe the point P, and we can determine that the point P on the images of the two cameras is an image point of the same point P in space, the three-dimensional position of P can be determined.
The camera assembly 300 is used for shooting a product at different angles, and then two-dimensional images at a plurality of different angles are obtained. The calibration is carried out by using a calibration plate to obtain internal and external parameters of the camera assembly 300, a plurality of two-dimensional images with different angles are shot by the same point of the object, a plurality of 'P' points are continuously determined in a crossed manner through the stereoscopic vision principle, the 'P' points are called trifocal tensors, each trifocal tensor has independent three-dimensional coordinates, namely an independent 'point source', then a transformation matrix from the standard epipolar line geometry to the standard extreme geometry is obtained, and the infinite point sources can be recombined to reconstruct the object. After the filtering and distinguishing of the color and texture condition algorithm, the three-dimensional coordinates of the screw hole are obtained, and therefore the screw hole can be accurately positioned.
This device adopts camera subassembly 300 to carry out the shooting of different angles, and then obtains the two-dimensional image of a plurality of different angles. Shooting a plurality of two-dimensional images at different angles from the same point of the object, splitting the image into a plurality of point sources through image preprocessing, feature selection and stereoscopic projection imaging in a central processing unit, and recombining and arranging the plurality of point sources under the planning of a linear equation so as to realize the three-dimensional reconstruction of the object; and calculating the three-dimensional position of the point by using the parallax and obtaining the position coordinates of the screw hole through processing such as feature matching, camera calibration and the like.
As an improvement of the above technical solution, the oblique cameras 320 are uniformly distributed around the collection platform 100. The inclined cameras 320 are uniformly distributed on the periphery, complete surrounding of the exposed plane of the product can be completed by matching with the vertical cameras 310, the overall appearance of the product is obtained, a central processing unit can analyze all planes on the product conveniently, and calibration of the positions of all screw holes is completed.
As a further improvement of the above technical solution, the camera head assembly 300 is detachably fixed to the fixing bracket 200. Preferably, the camera assembly 300 is fixed to the fixing bracket 200 by bolts. When the camera breaks down or the size of a product changes and the cameras of different models need to be replaced, the camera can be directly detached, so that the camera is convenient and fast, and the cost is saved.
Further, a slide way 210 is arranged on the fixing bracket 200, a slide block 220 is arranged in the slide way 210, and the camera assembly 300 is fixed on the slide block 220. The camera assembly 300 is fixed on the fixed support 200 through the sliding block 220, so that the position of the camera can be adjusted at any time, the covering of all planes of irregular products is convenient to complete, and the whole device is more flexible; meanwhile, a certain number of cameras can be reduced, and the cost is saved.
Further, the central processing unit is connected with a control panel for displaying the screw hole position and controlling the camera assembly 300, so that an operator can conveniently control the device and observe the calibration result.
While the invention has been particularly shown and described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides an adopt screw calibration device of tribit reconsitution which characterized in that: including gathering the platform, gather the platform and be provided with the fixed bolster all around, set up camera subassembly on the fixed bolster, camera subassembly includes the perpendicular camera and the slope camera of slope face to gathering the platform of perpendicular to gathering the platform, camera subassembly is connected with central processing unit.
2. The screw hole calibration device adopting three-position reconstruction as recited in claim 1, wherein: the inclined cameras are uniformly distributed around the acquisition platform.
3. The screw hole calibration device adopting three-position reconstruction as recited in claim 1, wherein: the camera assembly is detachably fixed on the fixed support.
4. The screw hole calibration device adopting three-position reconstruction as recited in claim 1, wherein: the camera is characterized in that a slide way is arranged on the fixed support, a slide block is arranged in the slide way, and the camera assembly is fixed on the slide block.
5. The screw hole calibration device adopting three-position reconstruction as recited in claim 1, wherein: the central processing unit is connected with a control panel used for displaying the position of the screw hole and controlling the camera assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920884550.2U CN209962289U (en) | 2019-06-12 | 2019-06-12 | Screw hole calibration device adopting three-position reconstruction |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920884550.2U CN209962289U (en) | 2019-06-12 | 2019-06-12 | Screw hole calibration device adopting three-position reconstruction |
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| CN209962289U true CN209962289U (en) | 2020-01-17 |
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| CN201920884550.2U Active CN209962289U (en) | 2019-06-12 | 2019-06-12 | Screw hole calibration device adopting three-position reconstruction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110458891A (en) * | 2019-06-12 | 2019-11-15 | 五邑大学 | A kind of screw hole caliberating device using three reconstruct |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110458891A (en) * | 2019-06-12 | 2019-11-15 | 五邑大学 | A kind of screw hole caliberating device using three reconstruct |
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