Camera automatic adjustment device and method

Abstract

The application discloses a kind of camera automatic adjusting device and method, in the present application: several camera adjusting components are installed on the upper surface of mounting platform;Camera body is installed in the middle of camera mounting plate;The lower end of first mechanical arm is provided with several supporting arms side by side, and first mechanical arm drives camera mounting plate to move forward and backward, left and right and up and down;Second mechanical arm is installed on one side of camera through hole, and adjusting head is arranged at the side end of 'L' support column;The side surface of adjusting head is provided with the clamping groove matched with camera body;Several calibration icons matched with camera body are provided on the sighting target side by side.The application installs camera mounting plate by setting mounting platform;The position and focal length of camera are adjusted by first mechanical arm and second mechanical arm, so as to complete focusing and verification before color sorter camera leaves factory, and multiple cameras are automatically focused and calibrated simultaneously by controller and first mechanical arm and second mechanical arm cooperation, which greatly shortens machine assembly time.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of color sorting machines, and particularly relates to a camera automatic adjusting device and method. BACKGROUND

[0002] A color sorting machine is a device for automatically sorting out different color particles in granular materials according to the difference in optical characteristics of the materials. The color sorting machine is used in the fields of bulk material or packaged industrial products, food quality detection and grading.

[0003] The color sorting machine needs to use a camera to collect material data for screening, and the camera needs to be focused and calibrated before the color sorting machine is shipped. In the current assembly and debugging of the color sorting machine, the focusing and calibration of the camera need to be performed one by one, which takes a lot of time. SUMMARY

[0004] The purpose of the application is to provide a camera automatic adjusting device and method, which installs a camera mounting plate on a mounting platform; adjusts the position and focal length of the camera through a first mechanical arm and a second mechanical arm, thereby completing the focusing and calibration of the camera of the color sorting machine before shipment, and realizes automatic focusing and calibration of multiple cameras at the same time through the cooperation of a controller and the first mechanical arm and the second mechanical arm, greatly shortening the assembly time of the machine.

[0005] To solve the above technical problems, the application is realized by the following technical scheme:

[0006] The application is a camera automatic adjusting device, which comprises a mounting platform and a sighting target, the upper surface of the mounting platform is provided with a plurality of camera adjusting assemblies, the upper surface of the mounting platform is provided with a plurality of camera through holes, the circumferential side of each camera through hole is provided with a plurality of fixing bolts, the camera adjusting assembly comprises a camera mounting plate, the lower surface of the camera mounting plate is provided with a camera body in the middle, a first mechanical arm is arranged on the lower end of the first mechanical arm in parallel, the opposite sides of the camera mounting plate are fixedly connected with a plurality of supporting arms, the upper end of the first mechanical arm is connected with a mechanical arm power assembly, the first mechanical arm drives the camera mounting plate to move forward and backward, left and right, and up and down, a second mechanical arm is arranged on one side of the camera through hole, the second mechanical arm comprises an L-shaped supporting column and an adjusting head, the adjusting head is arranged on one side of the end of the L-shaped supporting column, the side surface of the adjusting head is provided with a clamping groove matched with the camera body, and a plurality of calibration icons matched with the camera body are arranged on the sighting target in parallel.

[0007] Further, the circumferential side of the camera mounting plate is provided with a fixing hole matched with the fixing bolt.

[0008] Further, a pair of fixing nuts are mounted on the fixing bolt, and the camera mounting plate is fixed between the two fixing nuts.

[0009] Further, the mechanical arm power assembly is driven by a hydraulic telescopic rod or a motor to move the first mechanical arm, and the second mechanical arm is fixed on the mounting platform by bolts.

[0010] Further, the camera body transmits image data to a controller, and the controller controls the operation of the first mechanical arm and the second mechanical arm.

[0011] Further, a motor is mounted on the clamping groove, a gear for engaging with the focal length adjusting knob on the camera body is mounted on the rotating shaft of the motor, and the motor adjusts the focal length of the camera body through the gear.

[0012] Further, two rectangular square bars are arranged side by side in the middle of the upper surface of the calibration icon; a first line is arranged in the middle of the two rectangular square bars, and a plurality of second lines are arranged side by side on both sides of the first line.

[0013] One side of the upper surface of the calibration icon is a first triangle and a second triangle arranged side by side; the other side of the upper surface of the calibration icon is a third triangle and a fourth triangle arranged in rotational symmetry.

[0014] A camera automatic adjusting device adjusting method, comprising the following steps:

[0015] Stp1, install the camera mounting plate mounted with the camera body on the mounting platform; and lay the aiming target flat on the material surface.

[0016] Stp2, fixedly connect the first mechanical arm and the camera mounting plate through bolts.

[0017] Stp3, install the second mechanical arm on the upper surface of the camera mounting plate, and engage the gear of the motor in the clamping groove with the focal length adjusting knob on the camera body.

[0018] Stp4, start focusing and calibration, including the following sub-steps:

[0019] SS01, first adjust the camera body so that the rectangular square bar appears in the field of view of the camera body.

[0020] SS02, the staff adjusts the focus of the lens of the camera body by controlling the second mechanical arm.

[0021] SS02, after completing the focusing of the camera body, control the first mechanical arm to move left and right, so that the first line in the middle of the calibration icon is in the middle position of the camera signal.

[0022] SS03, after the left and right adjustment, the first mechanical arm is controlled to move up and down, so that the lengths of the second and third triangular black parts in the image data taken by the camera body are equal;

[0023] SS04, after the up and down adjustment, the first mechanical arm is controlled to rotate the camera, so that the lengths of the first and fourth triangular black parts in the image data taken by the camera body are equal;

[0024] Stp4, after the focusing and calibration, the first mechanical arm and the second mechanical arm are disassembled, the camera mounting plate is fixed through the fixing nut, and finally the mounting platform is fixed on the color sorter.

[0025] Further, the method for the lens of the camera body in the step SS02 is to calculate the difference between the maximum value and the minimum value of the pixel signals between the two rectangular block strips, and when the difference value is maximum, the focusing is completed.

[0026] Further, the method for the lens of the camera body in the step SS02 is to calculate the average value of the pixel signals between the two rectangular block strips, and when the average value is minimum, the focusing is completed.

[0027] The present application has the following beneficial effects:

[0028] The present application sets the mounting platform to mount the camera mounting plate, adjusts the position and focal length of the camera through the first mechanical arm and the second mechanical arm, thereby completing the focusing and calibration of the color sorter camera before leaving the factory, and realizes the automatic focusing and calibration of multiple cameras at the same time through the cooperation of the controller, the first mechanical arm and the second mechanical arm, which greatly shortens the machine assembly time.

[0029] Of course, implementing any product of the present application does not necessarily need to achieve all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0031] Figure 1 It is a structural schematic view of a camera automatic adjustment device.

[0032] Figure 2 It is a structural schematic view of aiming at the calibration icon on the target. DETAILED DESCRIPTION

[0033] Clearly, the described embodiments are merely a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those ordinarily skilled in the art without creative effort belong to the scope of the present application.

[0034] Please refer to Figure 1 The present application is a camera automatic adjusting device, which comprises a mounting platform 1 and a sighting target 6, and a plurality of camera adjusting assemblies are mounted on the upper surface of the mounting platform 1; a plurality of camera through holes 101 are arranged on the upper surface of the mounting platform 1, and a plurality of fixing bolts 102 are arranged on the circumferential side of each camera through hole 101; a pair of fixing nuts 103 are mounted on each fixing bolt 102.

[0035] The camera adjusting assembly comprises

[0036] A camera mounting plate 4 is mounted on the lower surface of the camera adjusting assembly, and a camera body 5 is mounted on the middle of the lower surface of the camera mounting plate 4; a fixing hole is arranged on the circumferential side of the camera mounting plate 4, which is matched with the fixing bolt 102.

[0037] The camera mounting plate 4 is fixed between the two fixing nuts 103; when the camera mounting plate 4 is mounted, one fixing nut 103 is first sleeved on the fixing bolt 102, and then the camera mounting plate 4 is mounted on the fixing bolt 102; after the focusing and calibration of the camera body 5 are completed, the bottom fixing nut 103 is selected to be in close contact with the camera mounting plate 4, and then the other fixing nut 103 is sleeved on the fixing bolt 102 to fix the camera mounting plate 4.

[0038] A first mechanical arm 2 is arranged on the mounting platform 1 and used for adjusting the position of the camera mounting plate 4; a plurality of branch arms 201 are arranged side by side on the lower end of the first mechanical arm 2, and the opposite sides of the camera mounting plate 4 are fixedly connected with the branch arms 201; the upper end of the first mechanical arm 2 is connected with a mechanical arm power assembly; the mechanical arm power assembly drives the first mechanical arm 2 to move by a hydraulic telescopic rod or a motor; the first mechanical arm 2 drives the camera mounting plate 4 to move forward and backward, left and right, and up and down;

[0039] A second mechanical arm 3 is arranged on the mounting platform 1 and used for adjusting the focal length of the camera body 5; the second mechanical arm 3 is fixed on the mounting platform 1 by a bolt; the second mechanical arm 3 is arranged on one side of the camera through hole 101, and the second mechanical arm 3 comprises an “L” support column 301 and an adjusting head 302; the adjusting head 302 is arranged on one side end of the “L” support column 301; a clamping groove 303 matched with the camera body 5 is arranged on the side surface of the adjusting head 302; a motor is mounted on the clamping groove 303, a gear wheel used for engaging and matching with the focal length adjusting knob on the camera body 5 is mounted on the rotating shaft of the motor, and the motor adjusts the focal length of the camera body 5 through the gear wheel.

[0040] AsFigure 2 As shown, several calibration icons 601 matched with the camera body 5 are arranged side by side on the aiming target 6; two rectangular block bars 6015 are arranged side by side in the middle of the upper surface of the calibration icon 601; a first line 6016 is arranged in the middle of the two rectangular block bars 6015, and several second lines 6017 are arranged side by side on both sides of the first line 6016; a first triangle 6011 and a second triangle 6012 are arranged side by side on one side of the upper surface of the calibration icon 601; and a third triangle 6013 and a fourth triangle 6014 are arranged in rotational symmetry on the other side of the upper surface of the calibration icon 601.

[0041] The calibration icons 601 are all black icons, and the first line 6016 is thicker than the second line 6017, with a difference ranging from 1-50mm.

[0042] There is a gap between the fixing hole and the fixing bolt 102, the controller controls the first mechanical arm 2 to adjust the position of the camera mounting plate 4, so as to facilitate the calibration of the camera body 5;

[0043] The camera body 5 transmits image data to the controller, and the controller controls the operation of the first mechanical arm 2 and the second mechanical arm 3, so as to control multiple first mechanical arms 2 and second mechanical arms 3 to automatically focus and calibrate the camera, greatly shortening the machine assembly time.

[0044] Embodiment two:

[0045] The adjustment method of the camera automatic adjustment device comprises the following steps:

[0046] Stp1, install the camera mounting plate 4 installed with the camera body 5 on the installation platform 1; and lay the aiming target 6 on the material surface;

[0047] Stp2, fixedly connect the first mechanical arm 2 and the camera mounting plate 4 through bolts;

[0048] Stp3, install the second mechanical arm 3 on the upper surface of the camera mounting plate 4, and engage the gear of the motor in the clamping groove 303 with the focal length adjustment knob on the camera body 5;

[0049] Stp4, start focusing and calibration, comprising the following sub-steps:

[0050] SS01, first adjust the camera body 5 so that the rectangular block bar 6015 appears in the field of view of the camera body 5;

[0051] SS02, the staff adjusts the lens of the camera body 5 through the second mechanical arm 3; the method for adjusting the lens of the camera body 5 is to calculate the maximum value and the minimum value of the pixel signal between the two rectangular block bars 6015, and when the difference is maximum, the focusing is completed;

[0052] SS02, after the focusing of the camera body 5 is completed, the first mechanical arm 2 is controlled to move left and right, so that the first line 6016 in the middle of the calibration icon 601 is in the middle position of the camera signal;

[0053] SS03, after the left and right adjustment is completed, the first mechanical arm 2 is controlled to move up and down, so that the lengths of the black parts of the second and third triangles 6012 and 6013 in the image data photographed by the camera body 5 are equal;

[0054] SS04, after the up and down adjustment is completed, the first mechanical arm 2 is controlled to rotate the camera, so that the lengths of the black parts of the first and fourth triangles 6011 and 6014 in the image data photographed by the camera body 5 are equal;

[0055] Stp4, after the focusing and calibration are completed, the first mechanical arm 2 and the second mechanical arm 3 are disassembled, the camera mounting plate 4 is fixed through the fixing nut 103, and finally the mounting platform 1 is fixed on the color sorter.

[0056] Example three:

[0057] The adjustment method of the camera automatic adjustment device comprises the following steps:

[0058] Stp1, the camera mounting plate 4 mounted with the camera body 5 is mounted on the mounting platform 1; and the aiming target 6 is laid on the material surface;

[0059] Stp2, the first mechanical arm 2 is fixedly connected with the camera mounting plate 4 through bolts;

[0060] Stp3, the second mechanical arm 3 is mounted on the upper surface of the camera mounting plate 4, and the gear of the motor in the clamping groove 303 is engaged with the focus adjustment knob on the camera body 5;

[0061] Stp4, starting focusing and calibration, comprising the following sub-steps:

[0062] SS01, first, the camera body 5 is adjusted so that the rectangular block bar 6015 appears in the field of view of the camera body 5;

[0063] SS02, the staff adjusts the focus of the lens of the camera body 5 through the second mechanical arm 3; the method for adjusting the lens of the camera body 5 is to calculate the average pixel signal between the two rectangular block bars 6015, and the focusing is completed when the average value is the smallest;

[0064] SS02, after the focusing of the camera body 5 is completed, the first mechanical arm 2 is controlled to move left and right, so that the first line 6016 in the middle of the calibration icon 601 is in the middle position of the camera signal;

[0065] SS03, after the left and right adjustment, control the first mechanical arm 2 to move up and down, so that the length of the black part of the second and third triangles 6012 and 6013 in the image data taken by the camera body 5 is equal;

[0066] SS04, after the up and down adjustment, control the first mechanical arm 2 to rotate the camera, so that the length of the black part of the first and fourth triangles 6011 and 6014 in the image data taken by the camera body 5 is equal;

[0067] Stp4, after the focusing and calibration, the staff dismounts the first mechanical arm 2 and the second mechanical arm 3, fixes the camera mounting plate 4 through the fixing nut 103, and finally fixes the mounting platform 1 on the color sorter.

[0068] In the description of the present specification, the description of the terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0069] The preferred embodiments of the application disclosed above are only used to help explain the application. The preferred embodiments do not describe all the details and limit the application to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of the present specification. The present specification selects and describes these embodiments in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic camera adjustment device, characterized in that, It includes a mounting platform (1) and a targeting target (6). Several camera adjustment components are mounted on the upper surface of the mounting platform (1). Several camera through holes (101) are provided on the upper surface of the mounting platform (1). Several fixing bolts (102) are provided on the periphery of each camera through hole (101). The camera adjustment component includes A camera mounting plate (4) is provided, and a camera body (5) is mounted on the middle of the lower surface of the camera mounting plate (4); A first robotic arm (2) for adjusting the position of the camera mounting plate (4) has several arms (201) arranged side by side at its lower end. The opposite sides of the camera mounting plate (4) are respectively fixedly connected to the several arms (201). The upper end of the first robotic arm (2) is connected to the robotic arm power assembly. The first robotic arm (2) drives the camera mounting plate (4) to move forward, backward, left, right and up. A second robotic arm (3) for adjusting the focal length of the camera body (5); the second robotic arm (3) is installed on one side of the camera through hole (101), and the second robotic arm (3) includes an "L" support column (301) and an adjustment head (302); the adjustment head (302) is located at one end of the "L" support column (301); the side of the adjustment head (302) is provided with a slot (303) that cooperates with the camera body (5); The aiming target (6) is provided with several calibration icons (601) arranged side by side to cooperate with the camera body (5); The camera body (5) transmits image data to the controller, which controls the operation of the first robotic arm (2) and the second robotic arm (3); The calibration icon (601) has two rectangular blocks (6015) arranged side by side in the middle of its upper surface; a first line (6016) is arranged in the middle of the two rectangular blocks (6015), and several second lines (6017) are arranged side by side on both sides of the first line (6016). The calibration icon (601) has a first triangle (6011) and a second triangle (6012) arranged side by side on one side of its upper surface; and a third triangle (6013) and a fourth triangle (6014) arranged with rotational symmetry on the other side of its upper surface. The controller controls multiple first robotic arms 2 and second robotic arms 3 to automatically focus and calibrate the camera, including the following steps: First, adjust the camera body (5) so that the rectangular block (6015) appears in the field of view of the camera body (5); the operator controls the second robotic arm (3) to focus the lens of the camera body (5); after the camera body (5) is focused, control the first robotic arm (2) to move left and right so that the first line (6016) in the middle of the calibration icon (601) is in the middle position of the camera signal; after the left and right adjustment is completed, control the first robotic arm (2) to move up and down so that the black parts of the second triangle (6012) and the third triangle (6013) in the image data captured by the camera body (5) are of equal length; after the up and down adjustment is completed, control the first robotic arm (2) to rotate the camera so that the black parts of the first triangle (6011) and the fourth triangle (6014) in the image data captured by the camera body (5) are of equal length.

2. The automatic camera adjustment device according to claim 1, characterized in that, The camera mounting plate (4) is provided with fixing holes on all sides that cooperate with the fixing bolts (102).

3. The automatic camera adjustment device according to claim 2, characterized in that, A pair of fixing nuts (103) are installed on the fixing bolt (102), and the camera mounting plate (4) is fixed between the two fixing nuts (103).

4. The automatic camera adjustment device according to claim 1, characterized in that, The power assembly of the robotic arm is driven by a hydraulic telescopic rod or a motor to move the first robotic arm (2), and the second robotic arm (3) is fixed to the mounting platform (1) by bolts.

5. The automatic camera adjustment device according to claim 1, characterized in that, A motor is installed on the slot (303), and a gear is installed on the shaft of the motor for engaging with the focal length adjustment knob on the camera body (5). The motor adjusts the focal length of the camera body (5) through the gear.

6. The adjustment method of the automatic camera adjustment device according to any one of claims 1-5, characterized in that, Includes the following steps: Stp1, Install the camera mounting plate (4) with the camera body (5) on the mounting platform (1); lay the aiming target (6) flat on the material surface; Stp2, fix the first robotic arm (2) to the camera mounting plate (4) with bolts; Stp3, Install the second robotic arm (3) on the upper surface of the camera mounting plate (4), and engage the gear of the motor on the slot (303) with the focal length adjustment knob on the camera body (5); Stp4, begin focusing and calibration, including the following sub-steps: SS01. First, adjust the camera body (5) so that the rectangular block bar (6015) appears in the field of view of the camera body (5); SS02, The staff controls the second robotic arm (3) to focus the lens of the camera body (5); after the camera body (5) is focused, the staff controls the first robotic arm (2) to move left and right so that the first line (6016) in the middle of the calibration icon (601) is in the middle position of the camera signal. SS03. After completing the left and right adjustment, control the first robotic arm (2) to move up and down so that the black parts of the second triangle (6012) and the third triangle (6013) in the image data captured by the camera body (5) are of equal length. SS04. After completing the up and down adjustment, control the first robotic arm (2) to rotate the camera so that the black parts of the first triangle (6011) and the fourth triangle (6014) in the image data captured by the camera body (5) are of equal length. Stp4. After focusing and calibration, the staff removes the first robotic arm (2) and the second robotic arm (3), and fixes the camera mounting plate (4) with the fixing nut (103). Finally, the mounting platform (1) is fixed on the color sorter.

7. The adjustment method of the automatic camera adjustment device according to claim 6, characterized in that, In step SS02, the method for focusing the lens of the camera body (5) is to calculate the difference between the maximum and minimum values ​​of the pixel signals between the two rectangular blocks (6015), and to complete focusing when the difference is the maximum.

8. The adjustment method of the automatic camera adjustment device according to claim 7, characterized in that, In step SS02, the method for focusing the lens of the camera body (5) is to calculate the average pixel signal between the two rectangular blocks (6015), and focus is completed when the average value is the minimum.

Images