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A visual measurement device, method and robot

A vision measurement and vision module technology, applied in measurement devices, optical devices, instruments, etc., can solve problems such as limited camera field of view and pixel accuracy

Active Publication Date: 2022-04-12
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if limited by the camera field of view and pixel accuracy

Method used

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  • A visual measurement device, method and robot
  • A visual measurement device, method and robot
  • A visual measurement device, method and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] figure 1 It is a schematic structural diagram of a visual measuring device provided in Embodiment 1 of the present invention, figure 2 It is a schematic diagram of the side view structure of a visual measuring device provided in Embodiment 1 of the present invention, as shown in figure 1 and figure 2 As shown, the device includes: a laser instrument 10, a visual measurement component 20 and a controller (not shown in the figure).

[0027] Wherein, the laser device 10 is used for emitting laser beams to form a laser surface 40 , and the laser device 10 is fixedly arranged relative to the plane 30 to be measured.

[0028] The vision measurement component 20 includes at least one vision module 22 ; the vision module 22 includes a camera 222 and a transparent plate 223 ; the camera 222 is used to photograph the laser line projected by the laser surface 40 on the transparent plate 223 for imaging. The camera 222 is a kind of image acquisition device described in the cla...

Embodiment 2

[0047] Figure 4a and Figure 4b A schematic structural diagram of a visual measurement device provided in Embodiment 2 of the present invention. The embodiment of the present invention is based on the above-mentioned embodiment, and the above-mentioned embodiment is further optimized, as Figure 4a As shown, the device includes: a laser instrument 10, a visual measurement component 20 and a controller (not shown in the figure).

[0048] Wherein, the laser device 10 is used for emitting laser beams to form a laser surface 40 , and the laser device 10 is fixedly arranged relative to the plane 30 to be measured.

[0049] The vision measurement component 20 includes at least one vision module 22 ; the vision module 22 includes a camera 222 and a transparent plate 223 ; the camera 222 is used to photograph the laser line projected by the laser surface 40 on the transparent plate 223 for imaging.

[0050] The controller is configured to obtain at least two laser lines captured by...

Embodiment 3

[0062] Figure 7 It is a flow chart of a visual measurement method provided by Embodiment 3 of the present invention. This embodiment is applicable to the situation where a visual measurement device is used for offset measurement. This method can be performed by a visual measurement device. The visual measurement device can be performed by Realized by software and / or hardware, the visual measurement device can be configured on any execution front-end equipment. The embodiment of the present invention mainly aims at the situation that the number of visual modules is 2, and specifically includes the following steps:

[0063] S11, adjusting the focal lengths of the two cameras so that both cameras can shoot the laser line.

[0064]Exemplarily, after the vision module is installed, adjust the focal length of the two cameras, so that both cameras can shoot the laser line, preferably, adjust the focal length of the two cameras to the center of the projection film, so that the two ca...

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Abstract

The embodiment of the present invention provides a visual measurement device, method and robot, the device includes: a laser instrument, a visual measurement component and a controller; the laser instrument is used to emit a laser beam to form a laser surface, and the laser instrument Fixed setting relative to the plane to be measured; the visual measurement assembly includes at least one visual module; the visual module includes a camera and a transparent plate; the camera is used to photograph the laser beam projected on the transparent plate by the laser surface for imaging line; the controller is configured to acquire at least two laser lines captured by the camera during the deviation of the visual measurement component relative to the plane to be measured, and to obtain at least two laser lines according to the at least two laser lines Offset measurement is performed on the positional change between any two laser lines in the By applying the vision measurement device of the embodiment of the present invention, when the vision measurement component deviates relative to the plane to be measured, the deviation that occurs can be measured.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of construction robots, in particular to a visual measurement device, method and robot. Background technique [0002] The existing method of visually measuring the rotation angle is realized by a direct measurement method of template matching or an indirect method based on the angle between lines. [0003] The direct measurement method of template matching is to use the shape characteristics of the rigid body to perform similarity search, so as to locate the pose of the rigid body. However, if the shape of the object varies, the measurement accuracy will decrease. The indirect method of the line angle is to use a simple line as a reference to align and adjust the pose. But if limited by the camera field of view and pixel accuracy. Contents of the invention [0004] The purpose of the embodiments of the present invention is to provide a visual measurement device, method and robot, s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/00
CPCG01B11/00
Inventor 张国能刘震张胜强
Owner GUANGDONG BOZHILIN ROBOT CO LTD