A camera positioning device

Abstract

The present invention provides a camera positioning device, which comprises: a monocular camera; a first sliding table mechanism, including a first displacement device and a second displacement device; a first mounting plate slidably disposed along the X-axis direction on the first displacement device; a second mounting plate slidably disposed along the Y-axis direction on the second displacement device; the second mounting plate is hinged to one of the mounting positions; a second sliding table mechanism, including a third displacement device and a fourth displacement device; a third mounting plate slidably disposed along the Y-axis direction on the third displacement device; a fourth mounting plate slidably disposed along the X-axis direction on the fourth displacement device; the fourth mounting plate is hinged to the other mounting position; a laser head welding mechanism and a positioning mechanism, and the positioning mechanism is located at the bottoms of the laser head welding mechanism and the monocular camera. Thus, the inclination angle adjustment of the monocular camera can be effectively controlled, the actual welding situation can be determined by using the monocular camera, and at the same time, the welding position of the camera positioning device can be quickly determined to simplify the positioning process.

Description

Technical Field

[0001] The present invention relates to the technical field of laser welding, and particularly to a camera positioning device. Background Art

[0002] In existing laser welding, the XY-direction positioning is often detected by means of 3D contour scanning. The workbench is moved to the point to be tested, and a height sensor is used to measure the height of the workpiece to obtain the Z-direction offset. When the photographing and height measurement are carried out separately by this method, there are many measurement and positioning processes and it takes a long time. Moreover, the use of 3D contour scanning has a high cost and low detection efficiency, and in the process of welding, the existing 3D contour scanning cannot determine the welding state in real time, and it is difficult to adjust the welding device according to the actual welding situation. Summary of the Invention

[0003] An embodiment of the present invention provides a camera positioning device to solve the problems of many measurement and positioning processes, long time consumption, high cost, and low detection efficiency in the existing welding detection method, and at the same time solve the problem that the camera cannot determine the welding state.

[0004] An embodiment of the present invention provides a camera positioning device, including:

[0005] A monocular camera having at least two mounting positions sequentially arranged along the Z-axis direction;

[0006] A first sliding table mechanism, including: a first displacement device and a second displacement device; a first mounting plate slidable along the X-axis direction is provided on the first displacement device; the second displacement device is arranged on the first mounting plate, and a second mounting plate slidable along the Y-axis direction is provided on the second displacement device; one end of the second mounting plate is hinged to one of the mounting positions;

[0007] A second sliding table mechanism, including: a third displacement device and a fourth displacement device; a third mounting plate slidable along the Y-axis direction is provided on the third displacement device; the fourth displacement device is arranged on the third mounting plate, and a fourth mounting plate slidable along the X-axis direction is provided on the fourth displacement device; one end of the fourth mounting plate is hinged to the other mounting position;

[0008] A laser head welding mechanism and a positioning mechanism, an indicating light source is provided on the laser head welding mechanism, the positioning mechanism is used for fixing a welding workpiece, and the positioning mechanism is located at the bottoms of the laser head welding mechanism and the monocular camera.

[0009] According to the camera positioning device provided by an embodiment of the present invention, the camera positioning device further includes:

[0010] A camera control system, electrically connected to the first displacement device, the second displacement device, the third displacement device, and the fourth displacement device, for controlling the movement of the first mounting plate, the second mounting plate, the third mounting plate, and the fourth mounting plate, so as to rotate and / or move the monocular camera.

[0011] According to a camera positioning device provided by an embodiment of the present invention, a first driving mechanism is provided on the first displacement device, and the first driving mechanism is used to drive the first mounting plate to reciprocate along the X-axis direction on the first displacement device;

[0012] A second driving mechanism is provided on the second displacement device, and the second driving mechanism is used to drive the second mounting plate to reciprocate along the Y-axis direction on the second displacement device;

[0013] A third driving mechanism is provided on the third displacement device, and the third driving mechanism is used to drive the third mounting plate to reciprocate along the Y-axis direction on the third displacement device;

[0014] A fourth driving mechanism is provided on the fourth displacement device, and the fourth driving mechanism is used to drive the fourth mounting plate to reciprocate along the X-axis direction on the fourth displacement device.

[0015] According to a camera positioning device provided by an embodiment of the present invention, a first universal joint and a second universal joint are respectively provided on at least two of the mounting positions, and the second mounting plate is hinged to one of the mounting positions through the first universal joint; the fourth mounting plate is hinged to another mounting position through the second universal joint.

[0016] According to a camera positioning device provided by an embodiment of the present invention, both the first universal joint and the second universal joint include:

[0017] An inner ring, the inner ring of the first universal joint is connected to one of the mounting positions, and the inner ring of the second universal joint is connected to another mounting position;

[0018] An outer ring, the outer ring of the first universal joint is connected to the second mounting plate and is rotatably arranged on the corresponding inner ring; the outer ring of the second universal joint is connected to the fourth mounting plate and is rotatably arranged on the corresponding inner ring.

[0019] According to a camera positioning device provided by an embodiment of the present invention, the laser head welding mechanism includes: a laser gun head and a protective cover coaxially arranged with each other;

[0020] A cavity is provided in the protective cover, an opening of the cavity is provided at the bottom end of the protective cover, the laser gun head passes through the top end of the protective cover, and at least a part of the laser gun head is arranged in the cavity.

[0021] A camera positioning device provided according to an embodiment of the present invention, the camera positioning device further comprising:

[0022] An air jet pipe having an air inlet and an air outlet; the air outlet is arranged in the cavity, the air outlet is arranged towards the opening direction, and there is an included angle with the laser gun head.

[0023] A camera positioning device provided according to an embodiment of the present invention, the positioning mechanism comprising: a base, a first clamping body and a second clamping body; a sliding groove is provided on the base, the first clamping body and the second clamping body are arranged oppositely, and both are slidably arranged in the sliding groove.

[0024] A camera positioning device provided according to an embodiment of the present invention, the camera positioning device further comprising:

[0025] Two limiting members, the two limiting members are arranged on opposite sides of the base, and at least one of the limiting members is an adjustable-position movable limiting member.

[0026] A camera positioning device provided according to an embodiment of the present invention, the camera positioning device further comprising:

[0027] An operating table, the top surface of the operating table is provided with a stepped surface, the stepped surface has a first mounting surface and a second mounting surface; the height of the first mounting surface is greater than the height of the second mounting surface, the first displacement device and the third displacement device are both arranged on the first mounting surface, and the first mounting surface is movable along the Z-axis direction to control the first displacement device and the third displacement device to move along the Z-axis direction; the positioning mechanism is arranged on the second mounting surface.

[0028] The camera positioning device provided by the present invention is provided with a monocular camera, a first sliding table mechanism, a second sliding table mechanism, a laser head welding mechanism and a positioning mechanism. At least two mounting positions are arranged on the monocular camera in sequence along the Z-axis direction. The second mounting plate in the first sliding table mechanism is hinged to one of the mounting positions, and the fourth mounting plate in the second sliding table mechanism is hinged to the other mounting position. Thus, during the movement of the first mounting plate, the second mounting plate, the third mounting plate and the fourth mounting plate, the monocular camera can be translated, and at the same time, the tilt angle can be adjusted, so as to quickly determine the welding position of the camera positioning device, simplify the positioning process, and improve the welding detection efficiency. At the same time, moving and rotating the monocular camera enables the monocular camera to accurately capture the actual welding situation during welding, allowing the user to adjust the welding device according to the welding situation. Description of the Drawings

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0030] Figure 1 is the front view of the camera positioning device provided by an embodiment of the present invention;

[0031] Figure 2 is the side view of the camera positioning device provided by another embodiment of the present invention;

[0032] Figure 3 is the top view of the camera positioning device provided by yet another embodiment of the present invention;

[0033] Figure 4 is the schematic flowchart of the visual positioning method provided by an embodiment of the present invention;

[0034] Figure 5 is the schematic structural diagram of the visual positioning system provided by an embodiment of the present invention;

[0035] Figure 6 is the schematic structural diagram of an electronic device provided by an embodiment of the present invention;

[0036] Reference numerals:

[0037] Among them, 100, the first sliding table mechanism; 1010, the first displacement device; 1011, the first mounting plate; 1012, the first driving mechanism; 1020, the second displacement device; 1021, the second mounting plate; 1022, the second driving mechanism; 200, the second sliding table mechanism; 2010, the third displacement device; 2011, the third mounting plate; 2012, the third driving mechanism; 2020, the fourth displacement device; 2021, the fourth mounting plate; 2022, the fourth driving mechanism; 300, the monocular camera; 310, the first universal joint; 320, the second universal joint; 400, the positioning mechanism; 410, the first clamping body; 420, the second clamping body; 430, the base; 440, the limiting member; 500, the operating table; 510, the acquisition module; 520, the adjustment module; 530, the determination module; 610, the processor; 620, the communication interface; 630, the memory; 640, the communication bus. Detailed implementation manners

[0038] The following will further describe in detail the implementation manners of the present invention in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0039] In the description of the embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "connected" and "connected to" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.

[0041] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean 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 embodiments of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0042] The present invention provides a camera positioning device, as Figures 1 to 3 shown. The camera positioning device includes: a monocular camera 300, a first sliding table mechanism 100, a second sliding table mechanism 200, a positioning mechanism 400, and a laser head welding mechanism (not shown).

[0043] Among them, the laser head welding mechanism is used to output laser. The monocular camera 300 uses a 2D camera. At least two mounting positions are sequentially arranged on the monocular camera 300 along the Z-axis direction, and the mounting positions are sequentially spaced apart. The number of mounting positions can be adjusted according to needs.

[0044] The first sliding table mechanism 100 includes: a first displacement device 1010 and a second displacement device 1020. The first displacement device 1010 is arranged as a whole along the X-axis direction, and the second displacement device 1020 is arranged as a whole along the Y-axis direction. A first mounting plate 1011 is provided on the first displacement device 1010 and is slidable along the X-axis direction, that is, the first mounting plate 1011 can move along the positive or negative direction of the X-axis on the first displacement device 1010. The second displacement device 1020 is arranged on the first mounting plate 1011, so that the second displacement device 1020 can move along the positive or negative direction of the X-axis on the first mounting plate 1011. A second mounting plate 1021 is provided on the second displacement device 1020 and is slidable along the Y-axis direction. One end of the second mounting plate 1021 is hinged to the monocular camera 300 at one of the mounting positions, so that the monocular camera 300 can move along the positive or negative direction of the Y-axis under the operation of the second mounting plate 1021.

[0045] The second sliding table mechanism 200 includes: a third displacement device 2010 and a fourth displacement device 2020. The third displacement device 2010 is arranged as a whole along the Y-axis direction, and the fourth displacement device 2020 is arranged as a whole along the X-axis direction. A third mounting plate 2011 is provided on the third displacement device 2010 and is slidable along the Y-axis direction, that is, the third mounting plate 2011 can move along the positive or negative direction of the Y-axis on the third displacement device 2010. The fourth displacement device 2020 is arranged on the third mounting plate 2011, so that the fourth displacement device 2020 can move along the positive or negative direction of the Y-axis on the third mounting plate 2011. A fourth mounting plate 2021 is provided on the fourth displacement device 2020 and is slidable along the X-axis direction. One end of the fourth mounting plate 2021 is hinged to the monocular camera 300 at the other mounting position, so that the monocular camera 300 can move along the positive or negative direction of the X-axis under the operation of the fourth mounting plate 2021.

[0046] The positioning mechanism 400 is used to fix the welding workpiece, and the positioning mechanism 400 is located at the bottom of the laser head welding mechanism and the monocular camera 300. An indicating light source is provided on the laser head welding mechanism, and the shooting end of the monocular camera faces the positioning mechanism 400.

[0047] During the operation of the first displacement device 1010, the second displacement device 1020, the third displacement device 2010, and the fourth displacement device 2020, the monocular camera 300 can perform translation or rotation.

[0048] Specifically, when the second mounting plate 1021 moves along the Y-axis direction by the second displacement device 1020, if the third mounting plate 2011 also moves along the Y-axis direction by the third displacement device 2010, and the second mounting plate 1021 and the third mounting plate 2011 move asynchronously (the moving speeds of the second mounting plate 1021 and the third mounting plate 2011 are different, or the final displacements are different), since one end of the second mounting plate 1021 is hinged to one mounting position of the monocular camera 300, and one end of the fourth mounting plate 2021 is hinged to another mounting position of the monocular camera 300, at this time, the monocular camera 300 rotates around the X-axis to achieve the rotational adjustment of the monocular camera 300.

[0049] Similarly, when the first mounting plate 1011 moves along the X-axis direction by the first displacement device 1010, if the fourth mounting plate 2021 also moves along the X-axis direction by the fourth displacement device 2020, and the first mounting plate 1011 and the fourth mounting plate 2021 move asynchronously (the moving speeds of the first mounting plate 1011 and the fourth mounting plate 2021 are different, or the final displacements are different), since one end of the second mounting plate 1021 is hinged to one mounting position of the monocular camera 300, and one end of the fourth mounting plate 2021 is hinged to another mounting position of the monocular camera 300, at this time, the monocular camera 300 rotates around the Y-axis to achieve the rotational adjustment of the monocular camera 300.

[0050] When the second mounting plate 1021 moves along the Y-axis direction by the second displacement device 1020, if the third mounting plate 2011 also moves along the Y-axis direction by the third displacement device 2010, and the second mounting plate 1021 and the third mounting plate 2011 move synchronously (the moving speeds of the second mounting plate 1021 and the third mounting plate 2011 are the same, or the final displacements are the same), since one end of the second mounting plate 1021 is hinged to one mounting position of the monocular camera 300, and one end of the fourth mounting plate 2021 is hinged to another mounting position of the monocular camera 300, at this time, the monocular camera 300 moves along the Y-axis direction to achieve the movement adjustment of the monocular camera 300.

[0051] Similarly, when the first mounting plate 1011 moves along the X-axis direction by the first displacement device 1010, if the fourth mounting plate 2021 also moves along the X-axis direction by the fourth displacement device 2020, and the first mounting plate 1011 and the fourth mounting plate 2021 move synchronously (the moving speeds of the first mounting plate 1011 and the fourth mounting plate 2021 are the same, or the final displacements are the same), since one end of the second mounting plate 1021 is hinged to one mounting position of the monocular camera 300, and one end of the fourth mounting plate 2021 is hinged to another mounting position of the monocular camera 300, at this time, the monocular camera 300 moves along the X-axis direction to achieve the movement adjustment of the monocular camera 300.

[0052] When the second mounting plate 1021 moves along the Y-axis direction by the second displacement device 1020, if the third mounting plate 2011 also moves along the Y-axis direction by the third displacement device 2010, and the second mounting plate 1021 and the third mounting plate 2011 move synchronously (the moving speeds of the second mounting plate 1021 and the third mounting plate 2011 are the same, or the final displacements are the same), during the asynchronous movement of the first mounting plate 1011 and the fourth mounting plate 2021, at this time, the monocular camera 300 moves along the Y-axis direction, and at the same time, the monocular camera 300 rotates around the Y-axis, realizing the rotation and translation of the monocular camera 300 simultaneously.

[0053] Similarly, when the first mounting plate 1011 moves along the X-axis direction by the first displacement device 1010, if the fourth mounting plate 2021 also moves along the X-axis direction by the fourth displacement device 2020, and the first mounting plate 1011 and the fourth mounting plate 2021 move synchronously (the moving speeds of the first mounting plate 1011 and the fourth mounting plate 2021 are the same, or the final displacements are the same), during the asynchronous movement of the second mounting plate 1021 and the third mounting plate 2011, at this time, the monocular camera 300 moves along the X-axis direction, and at the same time, the monocular camera 300 rotates around the X-axis, realizing the rotation and translation of the monocular camera 300 simultaneously.

[0054] The camera positioning device provided by the embodiment of the present invention is provided with a monocular camera, a first sliding table mechanism, a second sliding table mechanism, a laser head welding mechanism and a positioning mechanism. At least two mounting positions are sequentially arranged along the Z-axis direction on the monocular camera. The second mounting plate in the first sliding table mechanism is hinged to one of the mounting positions, and the fourth mounting plate in the second sliding table mechanism is hinged to the other mounting position. Thereby, during the movement of the first mounting plate, the second mounting plate, the third mounting plate and the fourth mounting plate, the monocular camera can perform translation and simultaneously realize the adjustment of the tilt angle, thereby quickly determining the welding position of the camera positioning device, simplifying the positioning process, improving the welding detection efficiency. At the same time, moving and rotating the monocular camera enables the monocular camera to accurately capture the actual welding situation during welding, allowing the user to adjust the welding device according to the welding situation.

[0055] In order to be able to control the camera positioning device, as Figure 1 and Figure 2 shown, the camera positioning device further includes: a camera control system. The camera control system is electrically connected to the first displacement device 1010, the second displacement device 1020, the third displacement device 2010 and the fourth displacement device 2020. The camera control system is used to control the movement of the first mounting plate 1011, the second mounting plate 1021, the third mounting plate 2011 and the fourth mounting plate 2021, so as to adjust the angle and / or translate the monocular camera 300.

[0056] Specifically, when the camera control system controls the second mounting plate 1021 to move along the Y-axis direction by the second displacement device 1020, the camera control system also controls the third mounting plate 2011 to move along the Y-axis direction by the third displacement device 2010 at the same time. Moreover, when the second mounting plate 1021 and the third mounting plate 2011 move asynchronously (the moving speeds of the second mounting plate 1021 and the third mounting plate 2011 are different, or the final displacements are different), since one end of the second mounting plate 1021 is hinged to one mounting position of the monocular camera 300, and one end of the fourth mounting plate 2021 is hinged to another mounting position of the monocular camera 300, at this time, the monocular camera 300 can rotate around the X-axis to realize the rotational adjustment of the monocular camera 300.

[0057] Similarly, when the camera control system controls the first mounting plate 1011 to move along the X-axis direction by the first displacement device 1010, the camera control system also controls the fourth mounting plate 2021 to move along the X-axis direction by the fourth displacement device 2020 at the same time. Moreover, when the first mounting plate 1011 and the fourth mounting plate 2021 move asynchronously (the moving speeds of the first mounting plate 1011 and the fourth mounting plate 2021 are different, or the final displacements are different), since one end of the second mounting plate 1021 is hinged to one mounting position of the monocular camera 300, and one end of the fourth mounting plate 2021 is hinged to another mounting position of the monocular camera 300, at this time, the monocular camera 300 can rotate around the Y-axis to realize the rotational adjustment of the monocular camera 300.

[0058] When the camera control system controls the second mounting plate 1021 to move along the Y-axis direction by the second displacement device 1020, the camera control system also controls the third mounting plate 2011 to move along the Y-axis direction by the third displacement device 2010 at the same time. Moreover, when the second mounting plate 1021 and the third mounting plate 2011 move synchronously (the moving speeds of the second mounting plate 1021 and the third mounting plate 2011 are the same, or the final displacements are the same), since one end of the second mounting plate 1021 is hinged to one mounting position of the monocular camera 300, and one end of the fourth mounting plate 2021 is hinged to another mounting position of the monocular camera 300, at this time, the monocular camera 300 can move along the Y-axis direction to realize the movement adjustment of the monocular camera 300.

[0059] Similarly, when the camera control system controls the first mounting plate 1011 to move along the X-axis direction on the first displacement device 1010, the camera control system also controls the fourth mounting plate 2021 to move along the X-axis direction on the fourth displacement device 2020 at the same time. Moreover, when the first mounting plate 1011 and the fourth mounting plate 2021 move synchronously (the moving speeds of the first mounting plate 1011 and the fourth mounting plate 2021 are the same, or the final displacements are the same), since one end of the second mounting plate 1021 is hinged to one mounting position of the monocular camera 300, and one end of the fourth mounting plate 2021 is hinged to another mounting position of the monocular camera 300, at this time, the monocular camera 300 can move along the X-axis direction, realizing the adjustment of the movement of the monocular camera 300.

[0060] When the camera control system controls the second mounting plate 1021 to move along the Y-axis direction on the second displacement device 1020, the camera control system also controls the third mounting plate 2011 to move along the Y-axis direction on the third displacement device 2010 at the same time. Moreover, when the second mounting plate 1021 and the third mounting plate 2011 move synchronously (the moving speeds of the second mounting plate 1021 and the third mounting plate 2011 are the same, or the final displacements are the same), during the asynchronous movement of the first mounting plate 1011 and the fourth mounting plate 2021, at this time, the monocular camera 300 can move along the Y-axis direction, and at the same time, the monocular camera 300 can rotate around the Y-axis, realizing the rotation and translation of the monocular camera 300 at the same time.

[0061] Similarly, when the camera control system controls the first mounting plate 1011 to move along the X-axis direction on the first displacement device 1010, the camera control system also controls the fourth mounting plate 2021 to move along the X-axis direction on the fourth displacement device 2020 at the same time. Moreover, when the first mounting plate 1011 and the fourth mounting plate 2021 move synchronously (the moving speeds of the first mounting plate 1011 and the fourth mounting plate 2021 are the same, or the final displacements are the same), during the asynchronous movement of the second mounting plate 1021 and the third mounting plate 2011, at this time, the monocular camera 300 can move along the X-axis direction, and at the same time, the monocular camera 300 can rotate around the X-axis, realizing the rotation and translation of the monocular camera 300 at the same time.

[0062] In one example, such as Figures 1 to 3As shown in the figure, to facilitate the control of the movement of the first mounting plate 1011, the second mounting plate 1021, the third mounting plate 2011, and the fourth mounting plate 2021, a first driving mechanism 1012 is provided on the first displacement device 1010. The first driving mechanism is used to drive the first mounting plate to reciprocate along the X-axis direction on the first displacement device 1010. A second driving mechanism 1022 is provided on the second displacement device 1020. The second driving mechanism is used to drive the second mounting plate to reciprocate along the Y-axis direction on the second displacement device. A third driving mechanism 2012 is provided on the third displacement device 2010. The third driving mechanism is used to drive the third mounting plate to reciprocate along the Y-axis direction on the third displacement device 2010. A fourth driving mechanism 2022 is provided on the fourth displacement device 2020. The fourth driving mechanism is used to drive the fourth mounting plate to reciprocate along the X-axis direction on the fourth displacement device.

[0063] Among them, the first driving mechanism 1012, the second driving mechanism 1022, the third driving mechanism 2012, and the fourth driving mechanism 2022 can adopt pneumatic control or electric control.

[0064] In the case where the camera positioning device adopts pneumatic control, the first driving mechanism 1012, the second driving mechanism 1022, the third driving mechanism 2012, and the fourth driving mechanism 2022 can all adopt cylinder driving mechanisms. By pneumatic transmission, the pressure of compressed air is converted into mechanical energy, so that the corresponding first mounting plate 1011, second mounting plate 1021, third mounting plate 2011, and fourth mounting plate 2021 perform linear motion.

[0065] In the case where the camera positioning device adopts electric control, the first driving mechanism 1012, the second driving mechanism 1022, the third driving mechanism 2012, and the fourth driving mechanism 2022 can all adopt motor driving mechanisms. By directly controlling the on-off of electricity, the first mounting plate 1011, second mounting plate 1021, third mounting plate 2011, and fourth mounting plate 2021 perform linear motion.

[0066] Based on the above embodiments, in an embodiment provided by the present invention, as Figures 1 to 3 shown, the camera positioning device further includes: a first universal joint 310 and a second universal joint 320. The second mounting plate 1021 is hinged to the monocular camera 300 through the first universal joint 310; the fourth mounting plate 2021 is hinged to the monocular camera 300 through the second universal joint 320. The second mounting plate 1021 is hinged to one of the mounting positions through the first universal joint 310, and the fourth mounting plate 2021 is hinged to another mounting position through the second universal joint 320.

[0067] In this embodiment, the camera positioning device is provided with two mounting positions in total. A first universal joint 310 is provided on one mounting position, and a second universal joint 320 is provided on the other mounting position. Thus, when the second mounting plate 1021 and the third mounting plate 2011 move asynchronously, or when the first mounting plate 1011 and the fourth mounting plate 2021 move asynchronously, the rotation adjustment of the monocular camera 300 can be achieved through the first universal joint 310 and the second universal joint 320.

[0068] When there are more than two mounting positions on the camera positioning device, the first universal joint 310 and the second universal joint 320 can be hinged to any two of the mounting positions. Since each mounting position is arranged in sequence along the Z-axis direction, the height of the monocular camera 300 can be adjusted according to different selections of the mounting positions.

[0069] For example, the camera positioning device is provided with mounting positions A, B, C, and D arranged in sequence from top to bottom along the Z-axis direction. In the initial state, the first universal joint 310 is arranged at the mounting position A, and the second universal joint 320 is arranged at the mounting position B. If it is necessary to lower the height of the monocular camera 300, the first universal joint 310 can be arranged at the mounting position B, and the second universal joint 320 can be arranged at the mounting position C. If it is necessary to further lower the height of the monocular camera 300, the first universal joint 310 can be arranged at the mounting position C, and the second universal joint 320 can be arranged at the mounting position D.

[0070] Furthermore, the structures of the first universal joint 310 and the second universal joint 320 are the same, and both include an inner ring and an outer ring. The inner ring of the first universal joint 310 is connected to one of the mounting positions, and the inner ring of the second universal joint 320 is connected to the other mounting position. The outer ring of the first universal joint 310 is connected to the second mounting plate 1021, and the first universal joint 310 is rotatably arranged on the corresponding inner ring. The outer ring of the second universal joint 320 is connected to the fourth mounting plate 2021, and the second universal joint 320 is rotatably arranged on the corresponding inner ring.

[0071] Based on the above embodiment, in an embodiment provided by the present invention, as Figures 1 to 3 shown, the laser head welding mechanism includes a laser gun head and a protective cover arranged coaxially with each other; the protective cover is of a shell structure and is used to protect the laser gun head. A cavity is provided in the protective cover, and an opening of the cavity is provided at the bottom end of the protective cover. The laser gun head is used to emit laser, the laser gun head passes through the top end of the protective cover, and at the same time, at least part of the laser gun head is arranged in the cavity, that is, the emitting end of the laser gun head is arranged in the protective cover.

[0072] To protect the laser gun head, the laser head welding mechanism further includes: a jet pipe. The jet pipe has an air inlet and an air outlet; the air inlet of the jet pipe is connected to an inert gas pipe, the air outlet of the jet pipe is arranged in the cavity, the air outlet of the jet pipe is arranged towards the opening direction, and there is an included angle between the air outlet of the jet pipe and the laser gun head.

[0073] Connect the air inlet of the jet pipe to the inert gas pipe, so that during operation, the air outlet of the jet pipe can blow out protective gases such as argon and nitrogen, and because there is an included angle between the air outlet of the jet pipe and the laser gun head, the welding trajectory is kept in a certain position, which is beneficial to the protection and cooling of the weld.

[0074] Based on the above embodiments, in an embodiment provided by the present invention, as Figures 1 to 3 shown, the positioning mechanism 400 is used to fix the welding workpiece. The positioning mechanism 400 is opposite to the laser head welding mechanism, and the two are arranged at a certain distance apart.

[0075] To facilitate the adjustment of the position of the welding workpiece, the positioning mechanism 400 includes: a base 430, a first clamping body 410 and a second clamping body 420; a chute is provided on the base 430, the first clamping body 410 and the second clamping body 420 are arranged oppositely, and the first clamping body 410 and the second clamping body 420 are both slidably arranged in the chute.

[0076] When it is necessary to fix the welding workpiece, directly place the welding workpiece between the first clamping body 410 and the second clamping body 420, and by moving the first clamping body 410 and the second clamping body 420, the welding workpiece can be clamped, and then adjust the position of the laser head welding mechanism. When the laser head welding mechanism is aligned with the welding workpiece, the welding of the welding workpiece can be realized.

[0077] As Figures 1 to 3 shown, to increase the stability of the welding workpiece, the camera positioning device further includes: two limit members 440, the two limit members 440 are arranged on opposite sides of the base 430, and the two limit members 440 are respectively used to limit the movement of the first clamping body 410 and the second clamping body 420, and at least one limit member 440 is an adjustable position movable limit member.

[0078] In this embodiment, two limit members 440 are respectively arranged on the left and right sides of the base 430. The limit member 440 arranged on the left side is used to limit the first clamping body 410, and the limit member 440 arranged on the right side is used to limit the second clamping body 420. When it is necessary to fix a welding workpiece, the welding workpiece is directly arranged between the first clamping body 410 and the second clamping body 420. By adjusting the two limit members 440, the movement of the first clamping body 410 and the second clamping body 420 is controlled, so that the welding workpiece can be clamped. Then, the position of the laser head welding mechanism is adjusted. When the laser head welding mechanism is aligned with the welding workpiece, the welding of the welding workpiece can be realized.

[0079] In addition, the camera positioning device further includes: an operation table 500. Buttons corresponding to various functions are arranged on the operation table 500, which can be used to control the operation of the first displacement device 1010, the second displacement device 1020, the third displacement device 2010 and the fourth displacement device 2020. The user can directly control the movement of the first mounting plate 1011, the second mounting plate 1021, the third mounting plate 2011 and the fourth mounting plate 2021 through the operation table 500.

[0080] Wherein, the top surface of the operation table 500 is provided with a stepped surface, and the stepped surface has at least a first mounting surface and a second mounting surface. The height of the first mounting surface is greater than that of the second mounting surface. Both the first displacement device 1010 and the third displacement device 2010 are arranged on the first mounting surface. In this embodiment, the first displacement device 1010 is arranged on the first mounting surface along the X-axis direction, and the third displacement device 2010 is arranged on the first mounting surface along the Y-axis direction. The first mounting surface is movable along the Z-axis direction, so that the first displacement device 1010 and the third displacement device 2010 can be controlled to move along the Z-axis direction. The base 430 of the positioning mechanism 400 is arranged on the second mounting surface. Due to the different heights of the first mounting surface and the second mounting surface, the monocular camera 300 and the positioning mechanism 400 are spaced apart from each other, so as to facilitate the adjustment of the position and angle of the monocular camera 300.

[0081] According to the needs of the user, the first mounting surface can be set as a mounting surface that is movable along the Z-axis direction. The overall height of the first mounting surface is controlled by a lifting device. At this time, the first displacement device 1010 and the third displacement device 2010 are arranged on the first mounting surface. Therefore, the entire first sliding table mechanism 100 and the second sliding table mechanism 200 can move along the Z-axis direction as a whole, so that the height of the monocular camera 300 can be adjusted and the welding position can be adjusted.

[0082] It should be noted that a plurality of slide rails arranged along the Z-axis direction can also be directly arranged on the first mounting surface, and the first displacement device 1010 and the third displacement device 2010 are respectively or integrally slidably arranged on the corresponding slide rails, so as to adjust the height of the monocular camera 300.

[0083] In addition, the second mounting surface can also be set as a mounting surface that is movable along the Z-axis direction. The overall height of the second mounting surface is controlled by a lifting device. At this time, the first displacement device 1010 and the third displacement device 2010 are arranged on the first mounting surface. Therefore, the positioning mechanism 400 can move along the Z-axis direction, so that the height of the positioning mechanism 400 can be adjusted, and then the welding position and welding trajectory can be adjusted.

[0084] The present invention provides a visual positioning method. The structure of the camera positioning device can refer to the above Figures 1 to 3 related written descriptions, which will not be elaborated here. As Figure 4 shown, the visual positioning method includes the following steps:

[0085] Step S410: Obtain a first image and a second image.

[0086] Align the indicating light source on the laser head welding mechanism with the welding workpiece, then turn on the camera positioning device, control the monocular camera to obtain the first image taken for the first time, and obtain the second image taken for the second time after the monocular camera moves or rotates. Both the first image and the second image have the image of the cursor corresponding to the indicating light source on the welding workpiece. The first image and the second image are two images obtained by two shootings of the monocular camera.

[0087] Step S420: Input the first image and the second image into the cursor positioning model to obtain the first cursor information corresponding to the first image output by the cursor positioning model and the second cursor information corresponding to the second image. The first cursor information includes the cursor corresponding to the indicating light source, and the second cursor information includes the cursor corresponding to the indicating light source.

[0088] After obtaining the first image and the second image, input the first image and the second image into the cursor positioning model to obtain the first cursor information corresponding to the first image output by the cursor positioning model and the second cursor information corresponding to the second image. The first cursor information includes the first projection point of the cursor corresponding to the indicating light source, and the second cursor information includes the second projection point of the cursor corresponding to the indicating light source.

[0089] Step 430: According to the parameters of the monocular camera, map the first projection point and the second projection point to the same three-dimensional coordinate system to obtain the first ray corresponding to the first projection point and the second ray corresponding to the second projection point; use the three-dimensional coordinates of the intersection point of the first ray and the second ray as the three-dimensional coordinates of the cursor corresponding to the indicating light source.

[0090] The parameters of the monocular camera include: the initial position of the monocular camera and the position information after moving and rotating.

[0091] According to the parameters of the binocular camera, map the first projection point and the second projection point to the same three-dimensional coordinate system. According to the parameters of the monocular camera, map the first projection point back to the first three-dimensional coordinate system, where the origin of the first three-dimensional coordinate system is the initial position of the camera. According to the parameters of the monocular camera, map the second projection point back to the second three-dimensional coordinate system, where the origin of the second three-dimensional coordinate system is the position of the camera after movement. Use the position information after movement and rotation to map the second projection point in the second three-dimensional coordinate system to the first three-dimensional coordinate system, so that the first projection point and the second projection point are both in the first three-dimensional coordinate system. Then obtain the first ray corresponding to the first projection point and the second ray corresponding to the second projection point, and use the three-dimensional coordinates of the intersection point of the first ray and the second ray as the three-dimensional coordinates of the cursor corresponding to the indicating light source, thereby completing the positioning of the entire monocular camera.

[0092] The visual positioning method provided by the present invention utilizes a monocular camera that can adjust the translation and tilt angles to quickly obtain a first image and a second image. Based on the first image and the second image, a three-dimensional positioning method is used to quickly determine the positioning situation of welding, so as to simplify the positioning process and improve the welding detection efficiency. At the same time, the monocular camera is moved and rotated so that during welding, the monocular camera can accurately capture the actual situation of welding, enabling the user to adjust the welding device according to the welding situation, greatly improving the welding effect of the welding device.

[0093] The visual positioning system provided by the embodiments of the present invention will be described below. The visual positioning system described below can be mutually corresponding and referenced with the method described above.

[0094] As Figure 5 shown, the control system for laser head welding height measurement includes: an acquisition module 510, an adjustment module 520, and a determination module 530. Among them, the acquisition module 510 is used to acquire a first image and a second image. The adjustment module 520 is used to input the first image and the second image into the cursor positioning model to obtain the first cursor information corresponding to the first image output by the cursor positioning model and the second cursor information corresponding to the second image. The first cursor information includes the cursor corresponding to the indicating light source, and the second cursor information includes the cursor corresponding to the indicating light source. The determination module 530 is used to map the first projection point and the second projection point to the same three-dimensional coordinate system according to the parameters of the monocular camera, to obtain the first ray corresponding to the first projection point and the second ray corresponding to the second projection point; and use the three-dimensional coordinates of the intersection point of the first ray and the second ray as the three-dimensional coordinates of the cursor corresponding to the indicating light source.

[0095] Figure 6 Illustrates a schematic physical structure diagram of an electronic device, as Figure 6As shown, the electronic device may include: a processor 610, a communications interface 620, a memory 630, and a communication bus 640. Among them, the processor 610, the communications interface 620, and the memory 630 complete communication with each other through the communication bus 640. The processor 610 may call the logical instructions in the memory 630 to execute the control method, which includes: obtaining a first image and a second image; inputting the first image and the second image into a cursor positioning model to obtain first cursor information corresponding to the first image output by the cursor positioning model and second cursor information corresponding to the second image, where the first cursor information includes a cursor corresponding to an indicating light source, and the second cursor information includes a cursor corresponding to the indicating light source; according to the parameters of the monocular camera, mapping the first projection point and the second projection point to the same three-dimensional coordinate system to obtain a first ray corresponding to the first projection point and a second ray corresponding to the second projection point; using the three-dimensional coordinates of the intersection point of the first ray and the second ray as the three-dimensional coordinates of the cursor corresponding to the indicating light source.

[0096] It should be noted that the electronic device in this embodiment may be a server, a PC, or other devices when specifically implemented, as long as its structure includes a processor 610, a communications interface 620, a memory 630, and a communication bus 640 as shown in Figure 6 . Among them, the processor 610, the communications interface 620, and the memory 630 complete communication with each other through the communication bus 640, and the processor 610 may call the logical instructions in the memory 630 to execute the above method. This embodiment does not limit the specific implementation form of the electronic device.

[0097] In addition, when the logical instructions in the above-mentioned memory 630 are implemented in the form of a software functional unit and sold or used as an independent product, they may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0098] Further, an embodiment of the present invention discloses a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the control method provided in each of the above method embodiments. The control method includes: obtaining a first image and a second image; inputting the first image and the second image into a cursor positioning model to obtain first cursor information corresponding to the first image output by the cursor positioning model and second cursor information corresponding to the second image. The first cursor information includes a cursor corresponding to an indicating light source, and the second cursor information includes a cursor corresponding to the indicating light source; according to the parameters of a monocular camera, mapping a first projection point and a second projection point to the same three-dimensional coordinate system to obtain a first ray corresponding to the first projection point and a second ray corresponding to the second projection point; using the three-dimensional coordinates of the intersection point of the first ray and the second ray as the three-dimensional coordinates of the cursor corresponding to the indicating light source.

[0099] On the other hand, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the control method provided in each of the above embodiments. The control method includes: obtaining a first image and a second image; inputting the first image and the second image into a cursor positioning model to obtain first cursor information corresponding to the first image output by the cursor positioning model and second cursor information corresponding to the second image. The first cursor information includes a cursor corresponding to an indicating light source, and the second cursor information includes a cursor corresponding to the indicating light source; according to the parameters of a monocular camera, mapping a first projection point and a second projection point to the same three-dimensional coordinate system to obtain a first ray corresponding to the first projection point and a second ray corresponding to the second projection point; using the three-dimensional coordinates of the intersection point of the first ray and the second ray as the three-dimensional coordinates of the cursor corresponding to the indicating light source.

[0100] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0101] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0102] The above embodiments are only used to illustrate the present invention, rather than limiting the present invention. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that various combinations, modifications, or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should all be covered by the scope of the claims of the present invention.

Claims

1. A camera positioning device, characterized in that, it includes: A monocular camera having at least two mounting positions sequentially arranged along the Z-axis direction; A first sliding table mechanism, including: a first displacement device and a second displacement device; a first mounting plate slidably arranged along the X-axis direction is provided on the first displacement device; the second displacement device is arranged on the first mounting plate, and a second mounting plate slidably arranged along the Y-axis direction is provided on the second displacement device; one end of the second mounting plate is hinged to one of the mounting positions; A second sliding table mechanism, including: a third displacement device and a fourth displacement device; a third mounting plate slidably arranged along the Y-axis direction is provided on the third displacement device; the fourth displacement device is arranged on the third mounting plate, and a fourth mounting plate slidably arranged along the X-axis direction is provided on the fourth displacement device; one end of the fourth mounting plate is hinged to the other mounting position; A laser head welding mechanism and a positioning mechanism, an indicating light source is provided on the laser head welding mechanism, the positioning mechanism is used to fix the welding workpiece, and the positioning mechanism is located at the bottoms of the laser head welding mechanism and the monocular camera.

2. The camera positioning device according to claim 1, characterized in that, the camera positioning device further includes: A camera control system electrically connected to the first displacement device, the second displacement device, the third displacement device and the fourth displacement device, and is used to control the movement of the first mounting plate, the second mounting plate, the third mounting plate and the fourth mounting plate, so as to rotate and / or move the monocular camera.

3. The camera positioning device according to claim 1, characterized in that, A first driving mechanism is provided on the first displacement device, and the first driving mechanism is used to drive the first mounting plate to reciprocate along the X-axis direction on the first displacement device; A second driving mechanism is provided on the second displacement device, and the second driving mechanism is used to drive the second mounting plate to reciprocate along the Y-axis direction on the second displacement device; A third driving mechanism is provided on the third displacement device, and the third driving mechanism is used to drive the third mounting plate to reciprocate along the Y-axis direction on the third displacement device; A fourth driving mechanism is provided on the fourth displacement device, and the fourth driving mechanism is used to drive the fourth mounting plate to reciprocate along the X-axis direction on the fourth displacement device.

4. The camera positioning device according to any one of claims 1-3, characterized in that, A first universal joint and a second universal joint are respectively provided on at least two of the mounting positions, and the second mounting plate is hinged to one of the mounting positions through the first universal joint; the fourth mounting plate is hinged to the other mounting position through the second universal joint.

5. The camera positioning device according to claim 4, characterized in that, both the first universal joint and the second universal joint include: An inner ring, the inner ring of the first universal joint is connected to one of the mounting positions, and the inner ring of the second universal joint is connected to the other mounting position; An outer ring, the outer ring of the first universal joint is connected to the second mounting plate and is rotatably arranged on the corresponding inner ring; the outer ring of the second universal joint is connected to the fourth mounting plate and is rotatably arranged on the corresponding inner ring.

6. The camera positioning device according to any one of claims 1-3, characterized in that the laser head welding mechanism includes: a laser gun head and a protective cover arranged coaxially with each other; a cavity is provided in the protective cover, an opening of the cavity is provided at the bottom end of the protective cover, the laser gun head passes through the top end of the protective cover, and at least a part of the laser gun head is arranged in the cavity.

7. The camera positioning device according to claim 6, characterized in that the camera positioning device further includes: a jet pipe having an air inlet and an air outlet; the air outlet is arranged in the cavity, the air outlet is arranged in the direction of the opening, and has an included angle with the laser gun head.

8. The camera positioning device according to any one of claims 1-3, characterized in that the positioning mechanism includes: a base, a first clamping body and a second clamping body; a chute is provided on the base, the first clamping body and the second clamping body are arranged oppositely and are both slidably arranged in the chute.

9. The camera positioning device according to claim 8, characterized in that the camera positioning device further includes: two limiting members, the two limiting members are arranged on opposite sides of the base, and at least one of the limiting members is a movable limiting member with adjustable position.

10. The camera positioning device according to any one of claims 1-3, characterized in that the camera positioning device further includes: an operating table, the top surface of the operating table is provided with a stepped surface, the stepped surface has a first mounting surface and a second mounting surface; the height of the first mounting surface is greater than the height of the second mounting surface, the first displacement device and the third displacement device are both arranged on the first mounting surface, the first mounting surface is movable along the Z-axis direction to control the first displacement device and the third displacement device to move along the Z-axis direction; the positioning mechanism is arranged on the second mounting surface.

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