CN219292096U

CN219292096U - Stacked target object full-view-field image acquisition device

Info

Publication number: CN219292096U
Application number: CN202222897009.XU
Authority: CN
Inventors: 穆龙涛; 潘冠廷; 权超
Original assignee: Shaanxi Polytechnic Institute
Current assignee: Shaanxi Polytechnic Institute
Priority date: 2022-11-01
Filing date: 2022-11-01
Publication date: 2023-07-04
Anticipated expiration: 2032-11-01

Abstract

The utility model discloses a full-view field image acquisition device for stacking target objects, which is used for acquiring images of the target objects on a conveying device, and comprises a movable base, wherein a lifting screw mechanism is arranged on the movable base, a connecting rod is fixedly connected on a sliding sleeve of the lifting screw mechanism, and a first gear motor is arranged at the bottom of one end of the connecting rod, which is far away from the sliding sleeve; the telescopic sleeve component is arranged on the output shaft of the first gear motor, and the telescopic direction of the telescopic sleeve component is perpendicular to the lifting direction of the lifting screw rod mechanism; the telescopic end of the telescopic sleeve assembly is provided with a rotary arm assembly, and the rotary arm assembly is provided with a camera and a plurality of illuminating lamps; the camera and the plurality of illumination lamps face the target object. The utility model can carry out surrounding type multi-azimuth and multi-angle shooting, and improves the image acquisition effect of stacked targets.

Description

Stacked target object full-view-field image acquisition device

Technical Field

The utility model relates to the technical field of image acquisition, in particular to a stacked object full-view field image acquisition device.

Background

In the logistics industry, it is generally required to take pictures by placing articles on a conveyor belt, and then identify and sort the articles in a directional manner according to the taken information.

The patent number is CN 215278583U's China patent, disclose a kind of flexible express mail sorting device, including conveying belt, support frame, camera detection system, when the device is used, place the article on the conveying belt, the camera detection system shoots the article information on the conveying belt, and transmit the information to the control system, but shooting azimuth, shooting angle of the camera detection system are fixed to set up, not easy to obtain all azimuth information comprehensively, reduce the information acquisition effect, and when the width of the conveying belt exceeds the shooting range, can't discern the article beyond the shooting range; in addition, when light is weaker, the picture is not clearly shot, the shooting effect is poor, and information cannot be effectively extracted.

For this purpose, a stacked object full-field image acquisition device is proposed.

Disclosure of Invention

The utility model aims to provide a full-view field image acquisition device for stacked targets, and aims to solve or improve at least one of the technical problems.

In order to achieve the above object, the present utility model provides the following solutions: the utility model provides a stacked object full-view field image acquisition device, which is used for acquiring images of objects on a conveying device and is characterized by comprising the following components:

the device comprises a movable base, wherein a lifting screw rod mechanism is arranged on the movable base, a connecting rod is fixedly connected to a sliding sleeve of the lifting screw rod mechanism, and a first speed reducing motor is arranged at the bottom of one end of the connecting rod, which is far away from the sliding sleeve;

the telescopic sleeve assembly is arranged on the output shaft of the first gear motor, and the telescopic direction of the telescopic sleeve assembly is perpendicular to the lifting direction of the lifting screw rod mechanism;

the rotating arm assembly is arranged at the telescopic end of the telescopic sleeve assembly, and a camera and a plurality of illuminating lamps are arranged on the rotating arm assembly; the camera and the plurality of illuminating lamps face to the target object.

Preferably, the lifting screw mechanism comprises a bracket arranged on the top surface of the movable base, a vertically arranged chute is formed in the outer side wall of the bracket, a screw assembly is arranged in the chute, the screw assembly is sleeved with the sliding sleeve in a sliding manner, and the sliding sleeve is in sliding connection with the chute; the connecting rod extends out of the sliding groove.

Preferably, the screw assembly comprises a screw motor fixedly installed on the inner top wall of the chute, a screw is fixedly connected to an output shaft of the screw motor, one end of the screw, which is far away from the screw motor, is installed on the inner bottom wall of the chute through a bearing seat, and a sliding sleeve is sleeved on the screw.

Preferably, the telescopic sleeve assembly comprises a sleeve fixedly connected to the output shaft of the first gear motor, a positioning hole is formed in the sleeve, a sliding rod is connected in the sleeve in a sliding mode, one end, far away from the sleeve, of the sliding rod is fixedly connected with the rotating arm assembly, a plurality of threaded holes are formed in the sliding rod, positioning bolts are connected to the positioning holes in a threaded mode, and penetrate through the positioning holes and are in threaded connection with the threaded holes.

Preferably, the rotating arm assembly comprises a second gear motor fixedly arranged on the sliding rod, a rotating shaft is fixedly connected to an output shaft of the second gear motor, and the rotating shaft is perpendicular to the sleeve; the camera and the plurality of illuminating lamps are fixedly arranged at one end, far away from the second speed reducing motor, of the rotating shaft.

Preferably, the movable base comprises a base, universal wheels are fixedly connected at four corners of the bottom surface of the base, a supporting component is mounted on the bottom surface of the base, and the support is fixedly connected on the top surface of the base.

Preferably, the support assembly comprises a plurality of air cylinders fixedly installed on the bottom surface of the base, and suction cups are fixedly connected to the output ends of the air cylinders.

The utility model discloses the following technical effects: according to the utility model, the distance between the camera and the stacking object is adjusted through the lifting screw mechanism, the camera is rotated for 360 degrees through the first gear motor, and the pitching shooting angle of the camera can be adjusted through the rotating arm assembly, so that the camera can shoot images of the stacking object on the conveying device in multiple directions and multiple angles in a surrounding manner, the information of the stacking object can be conveniently and comprehensively identified, and the image acquisition effect is improved; the camera is positioned above the target object, so that interference with the target object is avoided;

according to the utility model, the rotation radius of the camera is adjusted through the telescopic sleeve component, so that the shooting of stacked targets on conveying devices with different widths is adapted, the use convenience is improved, and when the camera shoots, the illuminating lamp illuminates the targets, the shooting definition is improved, and the image acquisition efficiency is further improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a top view of the present utility model;

FIG. 3 is an enlarged view of A in FIG. 2

FIG. 4 is a side view of the present utility model;

wherein, 1, a conveying device; 2. a camera; 3. a lighting lamp; 4. a bracket; 5. a chute; 6. a sliding sleeve; 7. a lead screw motor; 8. a screw rod; 9. a connecting rod; 10. a first gear motor; 11. a suction cup; 12. a sleeve; 13. positioning holes; 14. positioning bolts; 15. a slide bar; 16. a threaded hole; 17. a second gear motor; 18. a rotating shaft; 19. a base; 20. a universal wheel; 21. and (3) a cylinder.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description.

Referring to fig. 1-4, the present utility model provides a stacked object full field image acquisition device for acquiring an image of an object on a conveyor 1, where the conveyor 1 is a conveyor belt, and includes:

the device comprises a movable base, wherein a lifting screw rod mechanism is arranged on the movable base, a connecting rod 9 is fixedly connected to a sliding sleeve 6 of the lifting screw rod mechanism, and a first gear motor 10 is arranged at the bottom of one end, far away from the sliding sleeve 6, of the connecting rod 9;

the telescopic sleeve assembly is arranged on the output shaft of the first gear motor 10, and the telescopic direction of the telescopic sleeve assembly is perpendicular to the lifting direction of the lifting screw mechanism;

the rotating arm assembly is arranged at the telescopic end of the telescopic sleeve assembly, and is provided with a camera 2 and a plurality of illuminating lamps 3; the camera 2 and the plurality of illuminating lamps 3 face to the target object;

the object is placed on the transmission device 1 for transmission, the mobile base is arranged on one side of the transmission device 1, the camera 2 and the plurality of illuminating lamps 3 are positioned above the object, the first gear motor 10 can drive the telescopic sleeve assembly to rotate around the central shaft of the first gear motor 10, so that the camera 2 rotates 360 degrees above stacked objects, the stacked object information on the transmission device 1 is subjected to omnibearing shooting, and in shooting, the pitching shooting angle of the camera 2 can be adjusted through the rotating arm assembly, so that the objects are shot in multiple directions and multiple angles, and the object information acquisition effect is improved;

the lifting screw rod mechanism can lift and drive the connecting rod 9 on the sliding sleeve 6 to move up and down, so as to synchronously drive the telescopic sleeve assembly and the camera 2 to move up and down, adjust the distance between the camera 2 and the object, adapt to shooting of objects with different heights, avoid interference with the object, and improve the information shooting definition of the object; the illuminating lamps 3 and the cameras 2 are arranged on the rotating arm, so that the positions of the illuminating lamps 3 and the positions of the cameras 2 are consistent all the time, and when the cameras 2 shoot, the illuminating lamps 3 illuminate objects, thereby improving the shooting definition of pictures and improving the image acquisition effect; in use, the present utility model is connected to an external power source (not shown) to provide electrical support.

According to a further optimized scheme, the lifting screw rod mechanism comprises a bracket 4 arranged on the top surface of the movable base, a vertically arranged chute 5 is formed in the outer side wall of the bracket 4, a screw rod assembly is arranged in the chute 5, a sliding sleeve 6 is sleeved on the screw rod assembly in a sliding manner, and the sliding sleeve 6 is in sliding connection with the chute 5; the connecting rod 9 extends out of the chute 5;

the screw rod assembly comprises a screw rod motor 7 fixedly arranged on the inner top wall of the chute 5, a screw rod 8 is fixedly connected to an output shaft of the screw rod motor 7, one end, far away from the screw rod motor 7, of the screw rod 8 is arranged on the inner bottom wall of the chute 5 through a bearing seat, and a sliding sleeve 6 is sleeved on the screw rod 8 in a sliding manner;

the screw motor 7 is started to drive the sliding sleeve 6 to slide up and down on the sliding groove 5, so that the connecting rod 9 is driven to lift, and the first gear motor 10 on the connecting rod 9 is driven to lift, so that the camera 2 is lifted.

In a further optimization scheme, the telescopic sleeve assembly comprises a sleeve 12 fixedly connected to an output shaft of the first gear motor 10, a positioning hole 13 is formed in the sleeve 12, a sliding rod 15 is connected in a sliding mode in the sleeve 12, a rotating arm assembly is fixedly connected to one end, far away from the sleeve 12, of the sliding rod 15, a plurality of threaded holes 16 are formed in the sliding rod 15, positioning bolts 14 are connected to the positioning hole 13 in a threaded mode, and the positioning bolts 14 penetrate through the positioning hole 13 and are connected with the threaded holes 16 in a threaded mode;

the length of the sliding rod 15 extending out of the sleeve 12 can be adjusted by screwing the positioning bolt 14 with different threaded holes 16, so that the rotation radius of the camera 2 can be adjusted.

In a further optimized scheme, the rotating arm assembly comprises a second gear motor 17 fixedly arranged on the sliding rod 15, a rotating shaft 18 is fixedly connected to an output shaft of the second gear motor 17, and the rotating shaft 18 is arranged perpendicular to the sleeve 12; the camera 2 and the plurality of illuminating lamps 3 are fixedly arranged at one end of the rotating shaft 18 far away from the second gear motor 17;

the second gear motor 17 is started to drive the rotating shaft 18 to rotate, so that the pitching shooting angle of the camera 2 can be adjusted, the object picture information of different angles can be conveniently collected, the length of the sliding rod 15 extending out of the sleeve 12 is prolonged, the central shaft distance between the camera 2 and the first gear motor 10 is prolonged, and the rotating radius of the camera 2 is adjusted to adapt to shooting of stacked objects on the conveying device 1 with different widths.

In a further optimized scheme, the movable base comprises a base 19, universal wheels 20 are fixedly connected at four corners of the bottom surface of the base 19, a supporting component is mounted on the bottom surface of the base 19, and a bracket 4 is fixedly connected on the top surface of the base 19;

the support assembly comprises a plurality of air cylinders 21 fixedly mounted on the bottom surface of the base 19, and suction cups 11 are fixedly connected to the output ends of the air cylinders 21;

the pushing hands are fixedly connected to the top surface of the base 19, when the base 19 moves, the driving cylinder 21 enables the sucker 11 to be far away from the ground, the pushing hands on the base 19 are pushed to move under the action of the universal wheels 20, after the fixed position is reached, the driving cylinder 21 enables the sucker 11 to suck the ground, the position of the base 19 is stabilized, the movement of the base 19 is prevented, the shooting stability of the camera 2 is improved, and the number and the size of the sucker 11 are set according to the actual use condition.

When the utility model is used, the camera 2 adopts a 2-generation binocular depth sensing stereo camera, a sorting robot (not shown in the figure) acquires images of all objects in an imaging range through a binocular vision system to obtain n images to be identified, and a special depth neural network algorithm for the field of target detection and positioning, namely a region generation network, is adopted to identify the appearance characteristics of stacked shielding objects and objects without stacked shielding and judge the grabbing positions of the robot; the specific working principle and the connection structure are all in the prior art, and can be implemented with reference to the chinese patent of CN113657551a, which is not described in detail in this embodiment.

In the description of the present utility model, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

The above embodiments are only illustrative of the preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model, and various modifications and improvements made by those skilled in the art to the technical solutions of the present utility model should fall within the protection scope defined by the claims of the present utility model without departing from the design spirit of the present utility model.

Claims

1. A stacked object full field image acquisition device for image acquisition of an object on a conveyor (1), comprising:

the device comprises a movable base, wherein a lifting screw rod mechanism is arranged on the movable base, a connecting rod (9) is fixedly connected to a sliding sleeve (6) of the lifting screw rod mechanism, and a first gear motor (10) is arranged at the bottom of one end, far away from the sliding sleeve (6), of the connecting rod (9);

the telescopic sleeve assembly is arranged on an output shaft of the first gear motor (10), and the telescopic direction of the telescopic sleeve assembly is perpendicular to the lifting direction of the lifting screw rod mechanism;

the rotating arm assembly is arranged at the telescopic end of the telescopic sleeve assembly, and a camera (2) and a plurality of illuminating lamps (3) are arranged on the rotating arm assembly; the camera (2) and the illuminating lamps (3) face the target object.

2. The stacked target full field image acquisition device of claim 1, wherein: the lifting screw mechanism comprises a bracket (4) arranged on the top surface of the movable base, a vertically arranged chute (5) is formed in the outer side wall of the bracket (4), a screw assembly is arranged in the chute (5), the screw assembly is sleeved with a sliding sleeve (6) in a sliding manner, and the sliding sleeve (6) is in sliding connection with the chute (5); the connecting rod (9) extends out of the sliding groove (5).

3. The stacked target full field image acquisition device of claim 2, wherein: the screw assembly comprises a screw motor (7) fixedly installed on the inner top wall of the sliding groove (5), a screw (8) is fixedly connected to an output shaft of the screw motor (7), one end, far away from the screw motor (7), of the screw (8) is installed on the inner bottom wall of the sliding groove (5) through a bearing seat, and a sliding sleeve is arranged on the screw (8) in a sliding mode.

4. The stacked target full field image acquisition device of claim 1, wherein: the telescopic sleeve assembly comprises a sleeve (12) fixedly connected to an output shaft of the first gear motor (10), a positioning hole (13) is formed in the sleeve (12), a sliding rod (15) is connected in the sleeve (12) in a sliding mode, one end of the sliding rod (15) away from the sleeve (12) is fixedly connected with the rotating arm assembly, a plurality of threaded holes (16) are formed in the sliding rod (15), positioning bolts (14) are connected to the positioning hole (13) in a threaded mode, and the positioning bolts (14) penetrate through the positioning hole (13) and are in threaded connection with the threaded holes (16).

5. The stacked subject full field image acquisition device of claim 4 wherein: the rotating arm assembly comprises a second gear motor (17) fixedly arranged on the sliding rod (15), a rotating shaft (18) is fixedly connected to an output shaft of the second gear motor (17), and the rotating shaft (18) is perpendicular to the sleeve (12); the camera (2) and the illuminating lamps (3) are fixedly arranged at one end, far away from the second speed reducing motor (17), of the rotating shaft (18).

6. The stacked target full field image acquisition device of claim 2, wherein: the movable base comprises a base (19), universal wheels (20) are fixedly connected to four corners of the bottom surface of the base (19), a supporting component is mounted on the bottom surface of the base (19), and the support (4) is fixedly connected to the top surface of the base (19).

7. The stacked target full field image acquisition device of claim 6, wherein: the support assembly comprises a plurality of air cylinders (21) fixedly arranged on the bottom surface of the base (19), and suction cups (11) are fixedly connected to the output ends of the air cylinders (21).