Camera positioning system and camera positioning method
A camera positioning and camera technology, applied in the camera body, camera, manipulator and other directions, can solve the problems of inaccurate and inconvenient manual adjustment
Active Publication Date: 2021-12-10
BEIJING BO TSING TECH CO LTD
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Problems solved by technology
However, in actual application scenarios, due to the different diameters of the pipes, the optical axis of the camera needs to be adjusted, and manual adjustment is inaccurate and inconvenient
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[0062] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.
[0063] An embodiment of the present invention provides a camera positioning system and a camera positioning method for a pipeline robot. The pipeline robot and its camera positioning system can be applied in the welding process. Exemplarily, figure 1 A welding torch 020 is shown in . The improvements of the camera positioning system and method provided by the embodiments of the present invention at least include: the ability to automatically adjust the angle of the optical axis of the laser camera module (ie, the ...
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The invention discloses a camera positioning system and a camera positioning method. The camera positioning system includes: a processing unit, a camera unit, at least two point light sources, an angle adjustment mechanism, a bracket and a pipeline robot; the point light source is used for emitting positioning light , the positioning light is irradiated to the surface of the pipeline; the camera unit is used to acquire a positioning image of the pipeline surface, and the positioning image includes two positioning light spots; the processing unit is used to judging whether the optical axis of the camera unit is perpendicular to the surface of the pipeline; and when the position of the optical axis of the camera unit is not perpendicular to the surface of the pipeline, using the angle adjustment mechanism to adjust the angle of the camera unit through the bracket Angle the optical axis so that the optical axis of the camera unit is positioned perpendicular to the surface of the pipe. Thereby, the controllable adjustment of the angle of the camera unit can be realized, which is convenient and accurate at the same time.
Description
technical field [0001] The invention relates to the technical field of camera positioning of pipeline robots, in particular to a camera positioning system and a camera positioning method. Background technique [0002] Pipeline robot is a kind of machine, electricity and instrument that can walk automatically along the inside or outside of a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of the staff or the automatic control of the computer. system. [0003] Typically, a pipeline robot requires that the optical axis of the camera in its laser camera module be perpendicular to the pipeline surface. However, in actual application scenarios, due to the different pipe diameters, the optical axis of the camera needs to be adjusted, and manual adjustment is inaccurate and inconvenient. Contents of the invention [0004] The invention provides a camera positioning system and a camera positio...
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IPC IPC(8): F16L55/28F16M11/04F16M11/12F16M11/18B25J19/00H04N17/00G03B17/56F16L101/30
CPCF16L55/28F16M11/046F16M11/12F16M11/18B25J19/00G03B17/561F16L2101/30
Inventor 冯消冰赵宇宙
Owner BEIJING BO TSING TECH CO LTD