CN215833703U

CN215833703U - Three-dimensional visual positioning device for optical element

Info

Publication number: CN215833703U
Application number: CN202121646076.3U
Authority: CN
Inventors: 谢煜; 何岗; 覃颖艺
Original assignee: Shenzhen Yotta Image Automation Technology Co ltd
Current assignee: Shenzhen Yotta Image Automation Technology Co ltd
Priority date: 2021-07-19
Filing date: 2021-07-19
Publication date: 2022-02-15
Anticipated expiration: 2031-07-19

Abstract

The utility model is suitable for the technical field of optical part assembly positioning, and provides an optical element three-dimensional visual positioning device, which comprises an image acquisition device, a first reflector, a second reflector and a third reflector, wherein the centers of the first reflector, the second reflector and the third reflector are arranged in a triangular manner; the first reflector is used for receiving and reflecting the first light reflected by the optical element from a first visual angle; the second reflector is used for receiving and reflecting the second light rays reflected by the optical element from the second visual angle; the third reflector is used for receiving and reflecting the third light reflected by the optical element, the first light reflected by the first reflector and the second light reflected by the second reflector by a third visual angle; the image acquisition device is used for receiving the first light ray, the second light ray and the third light ray reflected by the third reflector so as to acquire an image of the optical element. The three-dimensional visual positioning device for the optical element provided by the utility model has the advantages of less required image acquisition devices, lower cost and high positioning precision, and can effectively reduce the time required by positioning operation.

Description

Three-dimensional visual positioning device for optical element

Technical Field

The utility model belongs to the technical field of optical part assembly positioning, and particularly relates to a three-dimensional visual positioning device for an optical element.

Background

In the positioning of the three-dimensional position and angle of the optical element, a plurality of image acquisition devices are generally used to photograph and identify the position and angle at a plurality of different angles respectively; or, a single photographing angle is set, and the three-dimensional position and angle of the optical element are obtained by rotating the optical element for multiple times. However, since the plurality of image capturing devices are used to photograph and recognize the position and angle of the original at a plurality of different angles, the number of image capturing devices required is large, and the cost is high, and therefore, the three-dimensional position and angle cannot be positioned on all the optical elements, which results in a reduction in the accuracy of the final original assembly. Set up single angle of shooing, through carrying out the rotatory shooting many times with optical element, all need adjust optical element's angle before shooing every time, need spend more time to lead to optical element's packaging efficiency low.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a three-dimensional visual positioning device for an optical element, and aims to solve the technical problems of large quantity of image acquisition devices, high cost, low positioning precision or long required time in the prior art for positioning the optical element.

The utility model is realized in such a way that the optical element three-dimensional visual positioning device comprises an image acquisition device, a first reflector, a second reflector and a third reflector, wherein the centers of the first reflector, the second reflector and the third reflector are arranged in a triangular manner;

the reflecting surface of the first reflector, the reflecting surface of the second reflector and the reflecting surface of the third reflector face to the same area, and the area is used for placing optical elements;

the first reflector is used for receiving and reflecting the first light rays reflected by the optical element from a first visual angle;

the second reflector is used for receiving and reflecting second light rays reflected by the optical element from a second visual angle;

the third reflector is used for receiving and reflecting third light rays reflected by the optical element, first light rays reflected by the first reflector and second light rays reflected by the second reflector by a third visual angle;

the image acquisition device is used for receiving the first light ray, the second light ray and the third light ray reflected by the third reflector so as to acquire the three-dimensional information of the optical element.

In an optional embodiment, the optical element three-dimensional visual positioning device further comprises an optical path delay assembly for prolonging the propagation time of light; at least one of the first light, the second light and the third light received by the third reflector is irradiated onto the third reflector through the optical path delay assembly, so that the three lights synchronously reach the reflecting surface of the third reflector.

In an alternative embodiment, the optical path delay assembly includes at least one optically transparent member having an index of refraction greater than 1.

In an alternative embodiment, the optically transparent member is glass.

In an optional embodiment, the image capturing device has a light source, and light emitted by the light source can be irradiated onto the first area, the second area and the third area of the optical element through the first reflecting mirror, the second reflecting mirror and the third reflecting mirror, and is reflected by the three areas to form the first light ray, the second light ray and the third light ray.

In an alternative embodiment, the image capture device is an industrial camera with a coaxial light source.

In an alternative embodiment, the angle between the reflecting surface of the third reflector and the axial direction of the image capturing device is 45 °.

In an optional embodiment, the optical element three-dimensional visual positioning device further comprises a clamping assembly for clamping the optical element and adjusting the inclination angle of the optical element.

In an alternative embodiment, the clamping assembly is located in a space enclosed by the first mirror, the second mirror and the third mirror.

In an optional embodiment, the first reflecting mirror, the second reflecting mirror and the third reflecting mirror are respectively arranged at an included angle of 45 degrees with a horizontal plane, and the first reflecting mirror and the second reflecting mirror are arranged vertically.

Compared with the prior art, the utility model has the technical effects that: the three-dimensional visual positioning device for the optical element, provided by the embodiment of the utility model, is provided with the image acquisition device, and the first reflector, the second reflector and the third reflector which are arranged in a triangular manner at the centers, when the three-dimensional visual positioning device is used, the image acquisition device can respectively acquire images of the optical element at different angles through the first reflector, the second reflector and the third reflector, and then the three-dimensional information of the optical element is obtained through analysis. The whole device has the advantages of simple structure, small quantity of required image acquisition devices and low cost, and can be used for positioning operation of all optical elements, thereby ensuring the assembly precision of original paper. Meanwhile, when the three-dimensional visual positioning device for the optical element provided by the embodiment is used for acquiring the three-dimensional information of the optical element, the optical element does not need to be rotated, so that the time required by positioning operation is effectively reduced, and the assembly efficiency of the optical element is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram illustrating a three-dimensional visual positioning apparatus for an optical device according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the relative positions of the first mirror, the second mirror and the optical element of FIG. 1;

fig. 3 is a structural diagram illustrating relative positions of the first mirror, the second mirror and the optical element under another view angle.

Description of reference numerals:

100. an image acquisition device; 200. a first reflector; 300. a second reflector; 400. a third reflector; 500. an optical element; 510. a first light ray; 520. a second light ray; 530. a third light ray; 600. a light transmissive member.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.

Referring to fig. 1 to 3, in an embodiment of the present invention, an optical element three-dimensional visual positioning apparatus is provided, which includes an image capturing device 100, and a first reflecting mirror 200, a second reflecting mirror 300, and a third reflecting mirror 400, which are arranged in a triangle shape at the center. Specifically, the image capturing apparatus 100 in this embodiment may be any one of electronic products having functions of taking pictures and taking pictures, or a combination of multiple electronic products, such as a camera, a video recorder, and the like. Surface mirrors may be used for first mirror 200, second mirror 300, and third mirror 400, and the three mirrors may be identical or different in structure. The structure mentioned here includes the shape, size, etc. of the reflecting surface of the mirror.

Wherein the reflective surface of first mirror 200, the reflective surface of second mirror 300, and the reflective surface of third mirror 400 are all facing the same area for placing optical element 500. The first reflector 200 is used for receiving and reflecting the first light 510 reflected by the optical element 500 from the first viewing angle; second mirror 300 is configured to receive and reflect second light 520 reflected by optical element 500 from a second viewing angle; the third reflector 400 is used for receiving and reflecting the third light 530 reflected by the optical element 500, the first light 510 reflected by the first reflector 200 and the second light 520 reflected by the second reflector 300 from the third viewing angle.

For ease of understanding, the first mirror 200 may be configured to receive and reflect the first light 510 reflected by the first surface of the optical element 500; second mirror 300 may be configured to receive and reflect second light 520 reflected by the second surface of optical element 500; the third mirror 400 may be used to receive and reflect the third light ray 530 reflected by the third surface of the optical element 500. The first surface, the second surface, and the third surface may be three surfaces perpendicular to each other, for example, the optical element 500 is a cubic structure, the first surface is one side surface of the optical element 500, the second surface is another side surface of the optical element 500, and the third surface is a bottom surface of the optical element 500; three surfaces with other included angles may also be used, as long as the three surfaces can cooperate with each other to show the three-dimensional shape of the optical element 500, which is not limited herein. In addition, the first mirror 200, the second mirror 300, and the third mirror 400 may be used to receive and reflect the light reflected by the plurality of surfaces of the optical element 500, respectively, as long as the light obtained by the three mirrors can reflect the three-dimensional information of the optical element 500. The stereoscopic information here means information such as the length, width, height, diameter, and inclination angle of the optical element 500.

The image capturing device 100 is configured to receive the first light ray 510, the second light ray 520, and the third light ray 530 reflected by the third reflector 400 to capture three-dimensional information of the optical element 500. The three-dimensional information referred to herein includes the size, inclination angle, and the like of the optical element.

In use, optical element 500 may be fixed to an area viewable by first mirror 200, second mirror 300, and third mirror 400, typically to a space enclosed by first mirror 200, second mirror 300, and third mirror 400, by one or more of suspension, clip fixation, and the like. Then, the light beams reflected by different areas of the optical element 500 are reflected into the image capturing device 100 by the reflectors located at different positions, the image capturing device 100 obtains a stereoscopic image of the optical element 500 and its surrounding environment through analysis, and then the image capturing device 100 or an operator obtains three-dimensional information of the optical element 500 according to the analysis of the stereoscopic image. After acquiring the information, the operator may adjust the position of the optical element 500 or adjust the tilt angle of the optical element 500 according to the information, so as to facilitate the subsequent assembly of the optical element 500.

The three-dimensional visual positioning device for the optical element provided by the embodiment of the utility model is provided with the image acquisition device 100, and the first reflector 200, the second reflector 300 and the third reflector 400 which are arranged in a triangular shape at the centers, when the three-dimensional visual positioning device is used, the image acquisition device 100 can respectively acquire images of the optical element 500 at different angles through the first reflector 200, the second reflector 300 and the third reflector 400, and then the three-dimensional information of the optical element 500 is obtained through analysis. The whole device is simple in structure, the number of the required image acquisition devices 100 is small, the cost is low, and the device can be used for positioning operation of all optical elements, so that the assembly precision of original paper is guaranteed. Meanwhile, when the three-dimensional visual positioning device for the optical element provided by the embodiment is used for acquiring the three-dimensional information of the optical element 500, the optical element 500 does not need to be rotated, so that the time required by the positioning operation is effectively reduced, and the assembly efficiency of the optical element 500 is improved.

Image capture device 100 generally has a focusing system, and the optical path lengths of third light ray 530 reflected by optical element 500, first light ray 510 reflected by first mirror 200, and second light ray 520 reflected by second mirror 300 to the reflective surface of third mirror 400 are generally difficult to adjust to be uniform or substantially uniform. Thus, the image capturing apparatus 100 cannot capture the clear images corresponding to different regions of the optical element 500 at the same time, and at this time, during the positioning operation, it is necessary to move the optical element 500 at least once or adjust the focusing system of the image capturing apparatus 100 once to capture the clear images corresponding to different regions of the optical element 500. To further improve the efficiency of the positioning operation, so that the image capturing apparatus 100 can capture the clear images corresponding to different regions of the optical element 500 at the same time point, please refer to fig. 1, in a specific embodiment, the three-dimensional visual positioning apparatus of the optical element further includes an optical path delay assembly for prolonging the propagation time of the light. The optical path delay component in this embodiment may be one or more combinations of optical path delays existing in the market, and may be specifically set according to the use requirement.

At least one of the first light ray 510, the second light ray 520 and the third light ray 530 received by the third mirror 400 is irradiated onto the third mirror 400 through the optical path delay assembly, so that the three light rays synchronously reach the reflecting surface of the third mirror 400. It should be noted that the synchronous arrival may be achieved simultaneously or successively within a certain time difference, and the specific time difference may be set according to the precision of the image capturing apparatus 100, so as not to affect the image capturing apparatus 100 to capture the image. Specifically, when the optical paths of the three light beams are different, the three light beams or two light beams with shorter optical paths may pass through different optical path retarders in the optical path delaying assembly, respectively. When the optical paths of two of the three light rays are the same, the three light rays or two light rays with shorter optical paths can respectively pass through different optical path retarders in the optical path delaying assembly.

In a specific embodiment, the optical paths of the first light ray 510 reflected by the first mirror 200 and the second light ray 520 reflected by the second mirror 300 to the reflecting surface of the third mirror 400 are the same, denoted as a, and the optical path of the third light ray 530 reflected by the optical element 500 to the reflecting surface of the third mirror 400 (denoted as b) is smaller than the optical path a. Thus, when in use, the optical path delay assembly is placed between the third reflector 400 and the optical element 500 to extend the optical path of the third light 530 reflected by the optical element 500 to the reflection surface of the third reflector 400, so that an operator can obtain images of three focusing surfaces of the optical element 500 at different viewing angles by shooting once with the image acquisition device 100, thereby further improving the speed and precision of the positioning operation of the optical element 500.

The three-dimensional visual positioning device for optical elements provided in this embodiment utilizes a set of optical acquisition system, and combines with the optical elements 500 such as the surface reflector and the optical path delay assembly to compensate the optical path difference and refract the photographing angle, so as to achieve the effect of positioning the three-dimensional position and angle of the optical element 500 by using one camera light source lens. Further, when the shape of the optical element 500 is a cube or other regular shape, the information of the three-dimensional position and angle of the optical element 500 can be obtained only by taking a picture once through the delicate setting of the shooting position.

In a specific embodiment, the optical path delay assembly includes at least one optically transparent member 600 having a refractive index greater than 1. Specifically, the light-transmitting member 600 may be one or a combination of a common glass, a lens, and the like. It should be noted that, when the optical path delay assembly includes a plurality of light-transmitting members 600, the structures of the different light-transmitting members 600 may be the same or different, and specifically, the optical path settings of the three light rays are not limited herein. The optical path delay assembly adopts the structure, has simple structure and convenient material taking.

In an alternative embodiment, the light-transmitting member 600 is glass, and the thickness of the glass can be set according to the optical path length difference between different light beams.

In a specific embodiment, the image capturing apparatus 100 has a light source, and light emitted from the light source can be irradiated onto the first region, the second region and the third region of the optical element 500 via the first reflecting mirror 200, the second reflecting mirror 300 and the third reflecting mirror 400, and is reflected by the three regions to form a first light ray 510, a second light ray 520 and a third light ray 530.

Specifically, the first region, the second region and the third region may not overlap with each other, or any two regions may overlap with each other, which is not limited herein. When the light source is set up to make the optical element 500 be in the dim area of light, the image capturing device 100 can still obtain a clear pattern, so that the positioning operation of the optical element 500 is not affected by ambient light, and the operation is convenient.

In an alternative embodiment, image capture device 100 is an industrial camera with a coaxial light source. Specifically, the industrial camera may be an industrial camera based on a ccd (charge Coupled device) chip or an industrial camera based on a cmos (complementary Metal Oxide semiconductor) chip, and has high image stability, high transmission capability, high interference rejection capability, and the like. In use, image capture device 100 captures an image of a first focal plane corresponding to a first region of optical element 500 via first mirror 200, a second focal plane corresponding to a second region of optical element 500 via second mirror 300, and a third focal plane corresponding to a third region of optical element 500 via third mirror 400 to capture three-dimensional information of optical element 500. In addition, when the first focal plane, the second focal plane, and the third focal plane not only represent the corresponding surface image of the optical element 500 but also include the surrounding image of the optical element 500, the three-dimensional information further includes the position information of the optical element.

Referring to fig. 1, in an embodiment, an angle between a reflection surface of the third reflector 400 and an axial direction of the image capturing apparatus 100 is 45 °. Thus, the horizontal light emitted by the image capturing device 100 can be changed into vertical light by the reflection of the third reflector 400, so that the first reflector 200 and the second reflector 300 can be placed on the light path of the vertical light, the length of the whole optical element three-dimensional visual positioning device is shortened, and meanwhile, the arrangement of each component in the optical element three-dimensional visual positioning device is facilitated.

To facilitate the fixing and tilt angle adjustment of the optical element 500, in one embodiment, the three-dimensional optical element positioning device further comprises a clamping assembly for clamping the optical element 500 and adjusting the tilt angle of the optical element 500.

Specifically, the clamping assembly in this embodiment may be a robot, a rotatable clamp, or the like, and may be specifically selected according to the use requirement, which is not limited herein. When the optical element 500 is used, the optical element 500 is fixed by the clamping assembly, the inclination angle of the optical element 500 is observed by the image acquisition device 100, and then the placing posture of the optical element 500 is adjusted by the clamping assembly as required.

In a specific embodiment, the clamping assembly is located within the space enclosed by first mirror 200, second mirror 300, and third mirror 400. The reflecting surfaces of the three mirrors face the space enclosed by the first mirror 200, the second mirror 300 and the third mirror 400, and can approximately intersect at this point, so that if the optical element 500 is located at the intersection, an image of the optical element 500 can be obtained through the first mirror 200, the second mirror 300 and the third mirror 400, and the operation is convenient.

Referring to fig. 1 to 3, in an embodiment, the first reflector 200, the second reflector 300 and the third reflector 400 are respectively disposed at an included angle of 45 ° with the horizontal plane, and the first reflector 200 and the second reflector 300 are disposed vertically.

Therefore, the positions of the three reflectors can be conveniently arranged, the light rays reflected by the first reflector 200 and the second reflector 300 can be prevented from being crossed, and the final image acquired by the image acquisition device 100 is ensured to be clear and complete.

The foregoing is considered as illustrative only of the preferred embodiments of the utility model, and is presented merely for purposes of illustration and description of the principles of the utility model and is not intended to limit the scope of the utility model in any way. Any modifications, equivalents and improvements made within the spirit and principles of the utility model and other embodiments of the utility model without the creative effort of those skilled in the art are included in the protection scope of the utility model based on the explanation here.

Claims

1. The three-dimensional visual positioning device for the optical element is characterized by comprising an image acquisition device, a first reflector, a second reflector and a third reflector, wherein the centers of the first reflector, the second reflector and the third reflector are arranged in a triangular mode;

2. An optical component three dimensional vision positioning apparatus as recited in claim 1, further comprising an optical path delay assembly for extending the propagation time of light; at least one of the first light, the second light and the third light received by the third reflector is irradiated onto the third reflector through the optical path delay assembly, so that the three lights synchronously reach the reflecting surface of the third reflector.

3. The apparatus of claim 2 wherein the optical path delay assembly comprises at least one optically transparent member having an index of refraction greater than 1.

4. A device for visually locating an optical element according to claim 3, wherein said optically transparent member is glass.

5. The apparatus of claim 1, wherein the image capturing device comprises a light source, and the light source emits light that can be irradiated onto the first, second, and third regions of the optical element via the first, second, and third reflectors, and reflected by the three regions to form the first, second, and third light rays.

6. A three dimensional visual positioning apparatus for optical elements as claimed in claim 5 wherein said image capturing means is an industrial camera with a coaxial light source.

7. The apparatus of claim 6 wherein the angle between the reflecting surface of the third mirror and the axis of the image capture device is 45 °.

8. The apparatus of claim 1 further comprising a clamping assembly for clamping the optical element and adjusting the tilt angle of the optical element.

9. The apparatus of claim 8, wherein the holding assembly is located in a space enclosed by the first mirror, the second mirror, and the third mirror.

10. The apparatus according to any of claims 1-9, wherein the first mirror, the second mirror and the third mirror are disposed at an angle of 45 ° with respect to the horizontal plane, respectively, and the first mirror and the second mirror are disposed vertically.