CN210559194U - Vision-assisted positioning device - Google Patents
Vision-assisted positioning device Download PDFInfo
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- CN210559194U CN210559194U CN201921589134.6U CN201921589134U CN210559194U CN 210559194 U CN210559194 U CN 210559194U CN 201921589134 U CN201921589134 U CN 201921589134U CN 210559194 U CN210559194 U CN 210559194U
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Abstract
A visual auxiliary positioning device relates to the technical field of heavy material positioning, and comprises a device platform, a movable supporting device and an image acquisition device; the mobile supporting device and the image acquisition device are respectively arranged on the equipment platform; the top of the mobile supporting device, which is far away from the equipment platform, is provided with a rolling device for bearing heavy materials; the rolling device is capable of rolling to move the heavy material; the image acquisition device is higher than the movable supporting device, so that the image acquisition device can acquire images of the heavy material. An object of the utility model is to provide a vision auxiliary positioning equipment to solve the technical problem that the location that exists is long, dangerous in operation, the positioning accuracy is low to a certain extent among the prior art.
Description
Technical Field
The utility model relates to a heavy material location technical field particularly, relates to a vision auxiliary positioning equipment.
Background
Currently, heavy material positioning is generally realized by observing with human eyes and moving heavy materials by using machines such as a manual operation forklift, a crane and the like. However, heavy materials of several tons are light and several hundred tons are heavy, the size is large, the weight is heavy, the heavy material positioning is realized, the requirements on the operation and control technical level of a forklift and a crane operator are high, the positioning time is long, the operation is dangerous, and the accurate positioning is often difficult.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a vision auxiliary positioning equipment to solve the technical problem that the location that exists is long, dangerous in operation, the positioning accuracy is low to a certain extent among the prior art.
The embodiment of the utility model is realized like this:
a vision auxiliary positioning device comprises a device platform, a movable supporting device and an image acquisition device; the mobile supporting device and the image acquisition device are respectively arranged on the equipment platform;
the top of the mobile supporting device, which is far away from the equipment platform, is provided with a rolling device for bearing heavy materials; the rolling device is capable of rolling to move the heavy material;
the image acquisition device is higher than the movable supporting device, so that the image acquisition device can acquire images of the heavy material.
In any of the above technical solutions, optionally, the movable supporting device includes a movable base, a movable supporting frame, and a movable driving device; the mobile base is arranged on the equipment platform;
the bottom of the movable support frame is connected with the movable base, and the top of the movable support frame is connected with the rolling device;
the mobile driving device is arranged on the mobile base or the mobile support frame and is in driving connection with the rolling device.
In any of the above technical solutions, optionally, the movable supporting device further includes a jacking device;
the stiff end fixed connection of jacking device remove the base, the removal end of jacking device can be followed the direction of height reciprocating motion from top to bottom of removal support frame, so that the top of the removal end of jacking device has to be higher than the ejecting state at the top edge of rolling device and has to be less than the non-ejecting state at the top edge of rolling device.
In any of the above technical solutions, optionally, the movable supporting device further includes a clamping device; the clamping device can move up and down in a reciprocating mode along the height direction of the moving support frame, so that the top of the clamping device is in an ejection state higher than the top edge of the rolling device and in a non-ejection state lower than the top edge of the rolling device;
and one side or two sides of the movable support frame are connected with the clamping devices along the rolling direction vertical to the rolling device.
In any of the above technical solutions, optionally, the movable support frame includes a first support portion and a second support portion that correspond to each other;
the first supporting part and the second supporting part are arranged at intervals;
the bottom of the first supporting part and the bottom of the second supporting part are both fixedly connected with the movable base;
the top of the first supporting part and the top of the second supporting part are both connected with the rolling device.
In any of the above technical solutions, optionally, the equipment platform is connected with a gantry;
the image acquisition device is connected with the top of the portal frame;
along the height direction of the portal frame, the image acquisition device can be fixed at different heights of the portal frame;
along the rolling direction of the rolling device, the image acquisition device can be fixed at different positions of the portal frame.
In any of the above technical solutions, optionally, the gantry includes a cross beam, a vertical beam, and an image mounting rack; the bottom of the vertical beam is connected with the equipment platform; the image mounting rack is connected with the image acquisition device;
along the height direction of the portal frame, a plurality of mounting holes which are spliced or screwed with the cross beam are sequentially arranged on the vertical beam at intervals; or the vertical beam is connected with the cross beam through the motor drive;
along the rolling direction of the rolling device, a plurality of mounting holes which are spliced or screwed with the image mounting rack are sequentially arranged on the cross beam at intervals; or the cross beam is connected with the image mounting rack through motor drive.
In any of the above technical solutions, optionally, the mounting hole provided on the vertical beam is an oblong hole, and/or the mounting hole provided on the cross beam is an oblong hole;
and scale marks are arranged on the vertical beam and/or the cross beam.
In any of the above technical solutions, optionally, the number of the image capturing devices is two; each image acquisition device is fixedly connected with one image mounting rack;
the distance between the two image mounting racks can be adjusted along the rolling direction of the rolling device.
In any of the above technical solutions, optionally, the visual auxiliary positioning apparatus includes an apparatus driving motor disposed on the moving support device;
the movable supporting device can move along the equipment platform, and the moving direction of the movable supporting device and the rolling direction of the rolling device form an included angle;
the equipment platform is fixedly provided with a lead screw or a rack extending along the moving direction of the moving support device; the equipment driving motor is in driving connection with the lead screw or the rack so as to enable the mobile supporting device to move along the equipment platform;
a sliding rail is arranged between the movable supporting device and the equipment platform.
Adopt above-mentioned technical scheme, the beneficial effects of the utility model are that:
the utility model provides a vision assistance-localization real-time equipment, including the equipment platform, remove strutting arrangement, image acquisition device and rolling device, gather the image of heavy material through image acquisition device, so that the distance that the heavy material removed along with rolling device is controlled, so that the heavy material can be safe, quick, accurate removal to predetermineeing the position, the accurate location of heavy material has been realized, greatly made things convenient for the surface defect of heavy material to detect, heavy material location is consuming time longer among the prior art has been solved to a certain extent, the operation is dangerous, the problem of accurate location potential difference.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a perspective view of a vision-aided positioning apparatus provided in an embodiment of the present invention;
fig. 2 is a front view of a vision-aided positioning apparatus provided by an embodiment of the present invention;
FIG. 3 is a left side view of the visual aid positioning apparatus shown in FIG. 2;
fig. 4 is a perspective view of a visual auxiliary positioning device and a heavy material provided by an embodiment of the present invention;
fig. 5 is a perspective view of a mobile supporting device of a vision-aided positioning apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic view of the mobile support unit shown in FIG. 5 supporting heavy materials;
fig. 7 is a front view of a mobile supporting device of a vision-aided positioning apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural view of the moving support device shown in fig. 7 supporting heavy materials.
In the figure: 100-moving the support means; 110-a mobile base; 120-moving the support frame; 121-a first support part; 122-a second support; 130-a movement drive; 160-jacking devices; 170-a clamping device; 171-a holder; 172-a roller;
200-heavy materials; 300-a device platform; 400-an image acquisition device; 500-a rolling device; 510-a driving wheel; 520-driven wheel; 600-a portal frame; 610-a cross beam; 620-vertical beam; 630-an image mount; 700-device drive motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Examples
Referring to fig. 1 to 8, a visual auxiliary positioning apparatus is provided in the present embodiment, in which fig. 1 is a perspective view of the visual auxiliary positioning apparatus provided in the present embodiment, fig. 2 is a front view thereof, fig. 3 is a left view of the visual auxiliary positioning apparatus shown in fig. 2, fig. 4 is a perspective view of the visual auxiliary positioning apparatus and a heavy material provided in the present embodiment, and a dotted line is used in the perspective view to show an acquisition view of an image acquisition device; FIG. 5 is a perspective view of the mobile supporting device of the present embodiment; FIG. 6 is a schematic view of the mobile support unit shown in FIG. 5 supporting heavy materials; FIG. 7 is a front view of the mobile support apparatus of the present embodiment; fig. 8 is a schematic structural view of the moving support device shown in fig. 7 supporting heavy materials.
The vision assistance-localization real-time equipment that this embodiment provided for cooperate optical detection device, detect whether there is the defect on heavy material surface. The heavy materials in the embodiment can be heavy parts, heavy equipment and the like.
Referring to fig. 1-4, the vision-aided positioning apparatus includes an apparatus platform 300, a mobile supporting device 100 and an image capturing device 400; the mobile supporting device 100 and the image capturing device 400 are respectively disposed on the apparatus platform 300. Wherein, the mobile supporting device 100 is fixedly connected or movably connected with the equipment platform 300; optionally, the mobile support 100 is capable of moving along the equipment platform 300. Optionally, the moving support device 100 is in a first direction along the moving direction of the equipment platform 300.
The top of the mobile support device 100 away from the equipment platform 300 is provided with a rolling device 500 for carrying heavy materials 200; the rolling device 500 is capable of rolling such that the heavy material 200 moves in a rolling direction of the rolling device 500. Optionally, the rolling direction of the rolling device 500 is a second direction, that is, the heavy material 200 moves along with the rolling device 500 in the second direction; optionally, the first direction and the second direction form an included angle; optionally, the first direction is arranged at right angles or approximately at right angles to the second direction. Optionally, a plane formed by the first direction and the second direction is a horizontal plane or an approximately horizontal plane.
The image capture device 400 is higher than the mobile support device 100 so that the image capture device 400 can capture images of the heavy material 200. Optionally, the image capture device 400 is a camera.
In this embodiment vision auxiliary positioning equipment, including equipment platform 300, remove strutting arrangement 100, image acquisition device 400 and rolling device 500, gather the image of heavy material 200 through image acquisition device 400, so that the distance that heavy material 200 removed along with rolling device 500 is controlled, so that heavy material 200 can be safe, quick, accurate removal to predetermineeing the position, the accurate location of heavy material has been realized, greatly made things convenient for the surface defect detection of heavy material 200, heavy material location consuming time is longer among the prior art, the operation is dangerous, accurate positioning poor problem has been solved to a certain extent.
Referring to fig. 5-8, the mobile supporting device 100 includes a mobile base 110, a mobile supporting frame 120 and a mobile driving device 130; the mobile base 110 is disposed on the device platform 300; optionally, the first direction and the second direction are both perpendicular or approximately perpendicular to the height direction of the movable support frame.
Optionally, the bottom of the mobile supporting frame 120 is connected to the mobile base 110, and the top thereof is connected to the rolling device 500; optionally, rolling device 500 includes a driving wheel 510 and a driven wheel 520; the top of drive wheel 510 and driven wheel 520 are used to carry heavy material 200. That is, the bottom of the movable supporting frame 120 is connected to the movable base 110, and the top thereof is connected to the driving wheel 510 and the driven wheel 520; optionally, at least a part of the wheel body of the driving wheel 510 is higher than the top of the movable supporting frame 120, and at least a part of the wheel body of the driven wheel 520 is higher than the top of the movable supporting frame 120, so that the driving wheel 510 and the driven wheel 520 can bear heavy materials 200. Optionally, the diameter of the driving wheel 510 is equal or substantially equal to the diameter of the driven wheel 520.
Alternatively, the driving wheel 510 and the driven wheel 520 are arranged at intervals, and the axial direction of the driving wheel 510 is parallel to the axial direction of the driven wheel 520; i.e., the direction of rotation of the driving wheel 510 is parallel to the direction of rotation of the driven wheel 520.
Optionally, the mobile driving device 130 is disposed on the mobile base 110 or the mobile supporting frame 120, and the mobile driving device 130 is connected to the rolling device 500 in a driving manner; optionally, the movement driving device 130 is connected with the driving wheel 510 in a driving manner.
Optionally, top edges of all driving wheels 510 and top edges of all driven wheels 520 are located on the same plane to improve the stability of the driving wheels 510 and the driven wheels 520 in supporting and moving the heavy material 200.
In this embodiment, the movable supporting frame 120 includes a bottom and a top corresponding to each other in the height direction of the movable supporting frame 120. Optionally, the axial direction of the driving wheel 510 is perpendicular or substantially perpendicular to the height direction of the movable supporting frame 120.
The movable supporting device in this embodiment connects the driving wheel 510 and the driven wheel 520 through the top, and at least a part of the body of the driving wheel 510 is higher than the top of the movable supporting frame 120, and at least a part of the body of the driven wheel 520 is higher than the top of the movable supporting frame 120, so that the driving wheel 510 and the driven wheel 520 can bear heavy materials 200; the movement driving device 130 is used for driving the driving wheel 510 to rotate, so that the heavy material 200 moves to a predetermined position. This remove strutting arrangement and remove heavy material 200 to predetermineeing the precision height that detects the position, greatly made things convenient for the surface defect who detects heavy material 200.
Referring to fig. 5-8, in an alternative of this embodiment, the mobile support means comprises jacking means 160; through the jacking device 160, the heavy material 200 is supported in an auxiliary manner after the heavy material 200 moves to the preset detection position, so that the force borne by the rolling device 500 is reduced to a certain extent, namely, the force borne by the driving wheel 510 and the driven wheel 520 is reduced to a certain extent, and the service life of the rolling device 500 is prolonged to a certain extent, namely, the service lives of the driving wheel 510 and the driven wheel 520 are prolonged to a certain extent.
Alternatively, the fixed end of the jacking device 160 is fixedly connected to the movable base 110, and the movable end of the jacking device 160 can reciprocate up and down along the height direction of the movable supporting frame 120, so that the top of the movable end of the jacking device has a jacking state higher than the top edge of the rolling device 500 and has a non-jacking state lower than the top edge of the rolling device 500. It is understood that the jacking device has the ejection state that the top of the moving end of the jacking device 160 is higher than the top edge of the rolling device 500, and the jacking device has the non-ejection state that the top of the moving end of the jacking device 160 is lower than the top edge of the rolling device 500. The moving end of the jacking device 160 can move up and down in a reciprocating manner, so that when the heavy material 200 moves along with the rolling device 500, the moving end of the jacking device 160 can descend without affecting the movement of the heavy material 200; and when the heavy material 200 moves to the preset position, the moving end of the jacking device 160 can lift up and support the heavy material 200 to assist in supporting the heavy material 200. It should be noted that the fixed end of the jacking device 160 is relative to the movable end thereof.
In an alternative of this embodiment, an anti-slip layer is disposed on the top of the moving end of the jacking device 160; through the skid resistant layer to improve the frictional force between the removal end of jacking device 160 and heavy material 200, so that jacking device 160 better assists in supporting heavy material 200, in order to improve the security performance when heavy material 200 moves to preset position.
Optionally, the anti-slip layer is rubber or silica gel, or other elastic materials.
In an alternative of this embodiment, a fixing clip is disposed on the top of the moving end of the jacking device 160; the fixing clip moves up and down with the moving end of the jacking device 160 so that the top of the fixing clip has a pushed-out state higher than the top edge of the rolling device 500 and has a non-pushed-out state lower than the top edge of the rolling device 500. By means of the fixing clips, so that the jacking device 160 supports the fixed annular weight or the similar annular weight. In this embodiment, the fixing clip has an ejection state and a non-ejection state; the ejection state is such that the top of the fixing clip is higher than the top edge of the rolling device 500, and the non-ejection state is such that the top of the fixing clip is lower than the top edge of the rolling device 500.
Optionally, the retaining clip is U-shaped, V-shaped, or otherwise shaped.
Optionally, the number of jacking devices 160 is 4. Alternatively, 2 jacking devices 160 are located near the driving wheel 510 and 2 jacking devices 160 are located near the driven wheel 520.
Alternatively, the jacking device 160 is driven by a motor, an air cylinder, a hydraulic cylinder, or other means.
Referring to fig. 5-8, in an alternative to the present embodiment, the mobile support device comprises a gripping device 170 for abutting heavy material 200; the clamping device 170 can reciprocate up and down along the moving support 120 so that the top of the clamping device has an ejected state higher than the top edge of the rolling device 500 and a non-ejected state lower than the top edge of the rolling device 500. The ejecting state of the gripping device is that the top of the gripping device 170 is higher than the top edge of the rolling device 500, and the non-ejecting state of the gripping device is that the top of the gripping device 170 is lower than the top edge of the rolling device 500.
The clamping device 170 is connected to one side or both sides of the movable supporting frame 120 in a direction perpendicular to the rolling direction of the rolling device, i.e., in the axial direction of the driving wheel 510. The heavy material 200 is blocked by the clamping device 170 so as to be conveniently and firmly placed on the rolling device 500, that is, the heavy material 200 is conveniently and firmly placed on the driving wheel 510 and the driven wheel 520, and the safety performance of the heavy material 200 when moving to the preset position is also improved to a certain extent.
Alternatively, the movable supporting frame 120 drives the connecting clamping device 170 through a motor, an air cylinder, a hydraulic cylinder or other driving means, so that the clamping device 170 can reciprocate up and down along the movable supporting frame 120.
Referring to fig. 5-8, in an alternative to the present embodiment, the gripping device 170 includes a gripping rack 171; the clamping frame 171 can be reciprocally moved up and down along the height of the moving support frame 120 so that the top of the clamping frame 171 has an ejected state higher than the top edge of the rolling device 500 and a non-ejected state lower than the top edge of the rolling device 500.
Alternatively, the movable supporting frame 120 drives the connection clamping frame 171 through a motor, an air cylinder, a hydraulic cylinder or other driving means, so that the clamping frame 171 can reciprocate up and down along the movable supporting frame 120.
Alternatively, the clamping device 170 includes a plurality of rollers 172 disposed on the clamping frame 171, the plurality of rollers 172 being capable of rolling along the clamping frame 171; the roller 172 reduces the resistance of the clamping frame 171 to move up and down along the height of the movable supporting frame 120, so as to extend the service life of the clamping device 170 to some extent.
In this embodiment, the clamping device 170 may be connected to the movable supporting frame 120 by other structures. For example, the clamping device 170 includes a clamping slide rail, and the clamping frame 171 is connected to the movable supporting frame 120 through the clamping slide rail; the slide rail can reduce the resistance of the clamping frame 171 during the up-and-down reciprocating movement along the height of the movable supporting frame 120, so as to prolong the service life of the clamping device 170 to a certain extent.
As shown in fig. 5 to 8, in an alternative of the present embodiment, the movable supporting frame 120 includes a first supporting portion 121 and a second supporting portion 122 corresponding to each other;
the first support part 121 and the second support part 122 are arranged at intervals;
the bottom of the first supporting part 121 and the bottom of the second supporting part 122 are both fixedly connected with the movable base 110;
optionally, the top of the first support part 121 and the top of the second support part 122 are both connected with a rolling device.
Optionally, the top of the first supporting part 121 is connected with the driving wheel 510; optionally, the number of the driving wheels 510 is plural; a plurality of drive wheels 510 are disposed on a drive shaft (not labeled in the figures); the driving shaft is rotatably connected with the first supporting part 121; optionally, the number of drive wheels 510 is 2.
The top of the second supporting part 122 is connected with a driven wheel 520; alternatively, the number of driven wheels 520 is plural; a plurality of driven wheels 520 are provided on the driven shaft; the driven shaft is rotatably coupled to the second supporting portion 122. Alternatively, the number of driven wheels 520 is 2. Optionally, bearings are provided between the driving shaft and the first support portion 121 and between the driven shaft and the second support portion 122; through the bearing to reduce the frictional force between driving shaft and the first supporting part 121, between driven shaft and the second supporting part 122, in order to improve the life of driving shaft and driven shaft to a certain extent.
The top edge of driving wheel 510 and the top edge of driven wheel 520 are located on the same plane, so that driving wheel 510 and driven wheel 520 support and move heavy material 200.
Alternatively, the clamping device 170 is connected to one side or both sides of the first support part 121 in the axial direction of the driver 510. Optionally, the clamping devices 170 are connected to two sides of the first supporting part 121 along the axial direction of the driving wheel 510; so that the gripping device 170 better grips the heavy material 200.
Optionally, a clamping device 170 is connected to one side or both sides of the second support portion 122 along the axial direction of the driver 510. Optionally, the clamping devices 170 are connected to two sides of the second supporting portion 122 along the axial direction of the driver 510; so that the gripping device 170 better grips the heavy material 200.
In an alternative to this embodiment, the driving wheel 510 and the driven wheel 520 are made of a resilient wear-resistant material.
In an alternative of this embodiment, the movement driving means 130 comprises a driving motor;
the driving motor is in driving connection with the driving shaft through a conveying belt, a transmission chain or a gear pair.
Optionally, the driving motor is in driving connection with a speed reducer, and the speed reducer is in driving connection with the driving shaft through a conveying belt, a transmission chain or a gear pair. Through the reduction gear to make the more stable drive driving shaft of driving motor, so that heavy material 200 more accurate removal to predetermineeing the position.
Referring to fig. 1-4, in an alternative embodiment, a gantry 600 is connected to the equipment platform 300. Alternatively, the first direction and the second direction are perpendicular or approximately perpendicular to the height direction of the gantry 600, that is, the moving direction of the moving support device 100 and the rolling direction of the rolling device 500 are perpendicular or approximately perpendicular to the height direction of the gantry 600.
The image capturing device 400 is connected to the top of the gantry 600, and the image capturing device 400 is supported by the gantry 600.
Alternatively, the image capturing device 400 can be fixed at different heights of the gantry 600 along the height direction of the gantry 600; that is, the height of the image capturing device 400 disposed on the gantry 600 can be adjusted; for example, the height of the image capturing device 400 may be adjusted according to the height of the heavy material 200, so as to optimize the view of the image capturing device 400 for capturing the heavy material 200.
Alternatively, the image capturing device 400 can be fixed at different positions of the gantry 600 along the rolling direction of the rolling device 500, i.e., along the second direction. That is, the position of the image capturing device 400 disposed on the gantry 600 along the rolling direction of the rolling device 500 can be adjusted; for example, the position of the image capturing device 400 may be adjusted according to the position of the heavy material 200, so as to optimize the view of the image capturing device 400 for capturing the heavy material 200.
In an alternative of this embodiment, the gantry 600 includes a cross beam 610, a vertical beam 620, and an image mount 630; the bottom of the vertical beam 620 is connected with the equipment platform 300; the image mounting rack 630 is connected with the image acquisition device 400; optionally, the image mounting bracket 630 is connected to the image capturing device 400 by screws.
Optionally, along the height direction of the gantry 600, the vertical beam 620 is sequentially provided with a plurality of mounting holes at intervals, which are plugged with or screwed to the cross beam 610, so as to connect the cross beam and the vertical beam in a manual manner, and the height of the cross beam 610 is adjusted by mounting the cross beam at different heights of the vertical beam, thereby adjusting the height of the image capturing device 400. Optionally, the mounting hole provided on the vertical beam 620 is an elongated circular hole through which the height of the cross beam 610 and thus the height of the image capturing device 400 can be finely adjusted.
It can be understood by those skilled in the art that the height of the image capturing device 400 in the gantry 600 can be adjusted by other means, for example, the vertical beam 620 is connected to the cross beam 610 through a motor drive, so as to electrically adjust the height of the cross beam 610, and thus the height of the image capturing device 400.
Optionally, along the rolling direction of the rolling device 500, that is, along the second direction, the cross beam 610 is sequentially provided with a plurality of mounting holes at intervals, which are inserted into or screwed with the image mounting rack 630, so as to connect the cross beam and the image mounting rack in a manual manner, and adjust the horizontal position of the image mounting rack 630 by mounting the image mounting rack at different positions of the cross beam, thereby adjusting the horizontal position of the image capturing device 400. Optionally, the mounting hole provided on the cross beam 610 is an oblong hole; through the oblong hole, the horizontal position of the image mounting bracket 630 and thus the image capturing device 400 is finely adjusted.
It will be understood by those skilled in the art that the horizontal position of the image capturing apparatus 400 on the gantry 600 can be adjusted by other means, for example, the cross beam 610 is driven by a motor to connect to the image mount 630, so as to electrically adjust the horizontal position of the image mount 630, and thus adjust the horizontal position of the image capturing apparatus 400.
In the alternative of this embodiment, the vertical beam 620 and/or the horizontal beam 610 are provided with scale marks; that is, the vertical beam 620 is provided with scale marks, or the cross beam 610 is provided with scale marks, or both the vertical beam 620 and the cross beam 610 are provided with scale marks. Through the scale marks, the height and the horizontal position of the image capturing apparatus 400 are conveniently adjusted.
In an alternative of this embodiment, the number of the image capturing devices 400 is two; each image acquisition device 400 is fixedly connected with an image mounting rack 630;
the distance between the two image mounts 630 can be adjusted in the rolling direction of the rolling device 500, that is, in the second direction.
In an alternative of this embodiment, the visual auxiliary positioning apparatus includes an apparatus driving motor 700 provided on the moving support device 100; the motor 700 is driven by the device to move the moving support device 100 along the device platform 300.
Specifically, the device platform 300 is fixedly provided with a lead screw or a rack extending along the moving direction of the moving support device 100, and the device driving motor 700 is drivingly connected to the lead screw or the rack so as to move the moving support device 100 along the device platform 300.
Optionally, a sliding rail is disposed between the mobile supporting device 100 and the equipment platform 300. The sliding rail can reduce the friction between the mobile support device 100 and the equipment platform 300 to some extent, so as to prolong the service life of the mobile support device 100.
For better understanding of the present embodiment, the working process of the vision-aided positioning apparatus of the present embodiment is briefly described as follows:
1. the forklift forks the heavy material against the gripping device 170 at one side of the mobile supporting device 100 and onto the driving wheel 510 and the driven wheel 520 of the rolling device 500.
2. The clamping device 170 is moved downwards so that the clamping device 170 is lower than the heavy material, and the clamping device 170 is prevented from influencing the image acquisition effect of the heavy material.
3. The image acquisition device 400 is combined to beat the position of the heavy material and calculate the deviation distance of the heavy material.
4. The movement driving means 130 of the movement supporting means 100 drives the driving wheel 510 to move the heavy material in the second direction, and the equipment driving motor 700 drives the movement supporting means 100 to move the heavy material in the first direction.
5. The image capturing device 400 takes a picture for confirmation.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A visual auxiliary positioning device is characterized by comprising a device platform, a movable supporting device and an image acquisition device; the mobile supporting device and the image acquisition device are respectively arranged on the equipment platform;
the top of the mobile supporting device, which is far away from the equipment platform, is provided with a rolling device for bearing heavy materials; the rolling device is capable of rolling to move the heavy material;
the image acquisition device is higher than the movable supporting device, so that the image acquisition device can acquire images of the heavy material.
2. The vision-aided positioning apparatus of claim 1, wherein the mobile support device comprises a mobile base, a mobile support frame and a mobile drive device; the mobile base is arranged on the equipment platform;
the bottom of the movable support frame is connected with the movable base, and the top of the movable support frame is connected with the rolling device;
the mobile driving device is arranged on the mobile base or the mobile support frame and is in driving connection with the rolling device.
3. The vision-assisted positioning apparatus of claim 2, wherein the mobile support means further comprises jacking means;
the stiff end fixed connection of jacking device remove the base, the removal end of jacking device can be followed the direction of height reciprocating motion from top to bottom of removal support frame, so that the top of the removal end of jacking device has to be higher than the ejecting state at the top edge of rolling device and has to be less than the non-ejecting state at the top edge of rolling device.
4. The visual auxiliary positioning apparatus of claim 2, wherein the mobile support means further comprises a clamping means; the clamping device can move up and down in a reciprocating mode along the height direction of the moving support frame, so that the top of the clamping device is in an ejection state higher than the top edge of the rolling device and in a non-ejection state lower than the top edge of the rolling device;
and one side or two sides of the movable support frame are connected with the clamping devices along the rolling direction vertical to the rolling device.
5. The visual aid positioning apparatus of claim 2, wherein the mobile support frame includes corresponding first and second supports;
the first supporting part and the second supporting part are arranged at intervals;
the bottom of the first supporting part and the bottom of the second supporting part are both fixedly connected with the movable base;
the top of the first supporting part and the top of the second supporting part are both connected with the rolling device.
6. The vision-assisted positioning apparatus of any one of claims 1-5, wherein a gantry is connected to the apparatus platform;
the image acquisition device is connected with the top of the portal frame;
along the height direction of the portal frame, the image acquisition device can be fixed at different heights of the portal frame;
along the rolling direction of the rolling device, the image acquisition device can be fixed at different positions of the portal frame.
7. The vision-assisted positioning apparatus of claim 6, wherein the gantry comprises a cross beam, a vertical beam, and an image mount; the bottom of the vertical beam is connected with the equipment platform; the image mounting rack is connected with the image acquisition device;
along the height direction of the portal frame, a plurality of mounting holes which are spliced or screwed with the cross beam are sequentially arranged on the vertical beam at intervals; or the vertical beam is connected with the cross beam through the motor drive;
along the rolling direction of the rolling device, a plurality of mounting holes which are spliced or screwed with the image mounting rack are sequentially arranged on the cross beam at intervals; or the cross beam is connected with the image mounting rack through motor drive.
8. The visual auxiliary positioning device of claim 7, wherein the mounting holes provided on the vertical beams are oblong holes, and/or the mounting holes provided on the cross beams are oblong holes;
and scale marks are arranged on the vertical beam and/or the cross beam.
9. Visual auxiliary positioning apparatus according to claim 7, wherein the number of image acquisition devices is two; each image acquisition device is fixedly connected with one image mounting rack;
the distance between the two image mounting racks can be adjusted along the rolling direction of the rolling device.
10. A visual auxiliary positioning apparatus according to any of claims 1 to 5 including an apparatus drive motor provided on the mobile support means;
the movable supporting device can move along the equipment platform, and the moving direction of the movable supporting device and the rolling direction of the rolling device form an included angle;
the equipment platform is fixedly provided with a lead screw or a rack; the equipment driving motor is in driving connection with the lead screw or the rack so as to enable the mobile supporting device to move along the equipment platform;
a sliding rail is arranged between the movable supporting device and the equipment platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921589134.6U CN210559194U (en) | 2019-09-23 | 2019-09-23 | Vision-assisted positioning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921589134.6U CN210559194U (en) | 2019-09-23 | 2019-09-23 | Vision-assisted positioning device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110482443A (en) * | 2019-09-23 | 2019-11-22 | 银河水滴科技（北京）有限公司 | Vision auxiliary positioning equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110482443A (en) * | 2019-09-23 | 2019-11-22 | 银河水滴科技（北京）有限公司 | Vision auxiliary positioning equipment |
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