Visual positioning device suitable for balance robot system

Abstract

The utility model discloses a visual positioning device suitable for a balance robot system, which comprises a visual positioning mechanism and a control system, the visual positioning mechanism comprises an upper cover, an outer shell, a main control board, a camera connecting line, a camera and a camera fixing plate, the upper end and the lower end of the outer shell are respectively provided with the upper cover and the camera fixing plate, and the main control board is arranged on the main control board. The main control board is arranged in the outer shell, the camera is installed on the camera fixing plate, the main control board is in communication connection with the camera through a connecting line, the control system comprises a main control MCU, a robot three-axis rod, a balance robot system, a tray with a cross mark and a power source, the main control MCU is connected with the balance robot system, and the robot three-axis rod is connected with the tray. The outer shell is installed on the robot three-axis rod, and the balance robot system is connected with the robot three-axis rod. The device has the beneficial effects that the labor time is saved, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of electronic balances, in particular to a visual positioning device suitable for a balance robot system. Background Art

[0002] The balance robot system is a balance production system for inspection, debugging and compensation of balances. It is designed to increase the stability and accuracy of the balance when it leaves the factory. After the manual debugging stage of the balance is completed, enter the robot system for verification, compensation, etc. This process is automated. When using it, we put the balance into the robot system, which looks like a 3D printer, and then connect the balance to the communication bus. In the control software on the computer, we can identify the connected balance, and then we use the control software to adjust the X and Y axes of the three-axis rod of the robot system so that the Z axis is at the center of the balance pan, and then start the robot system process, and wait for the system detection to be completed, and then compensate according to the detection results.

[0003] The above process is the basic working process of the robot system. In this process, the X and Y axes of the three-axis rod need to be moved to the center of the weighing plate by naked eye observation, and then the positions of the X and Y axes are manually adjusted on the control software. This operation takes a certain amount of time, and when a large number of scales are installed on the robot system, each one needs to be adjusted, which is very time-consuming. For this reason, we have launched a visual positioning device suitable for the robot system of scales. Utility Model Content

[0004] The purpose of the utility model is to provide a visual positioning device suitable for a balance robot system to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a visual positioning device suitable for a balance robot system, comprising a visual positioning mechanism and a control system, wherein the visual positioning mechanism comprises an upper cover, an outer shell, a main control board, a camera connecting line, a camera and a camera fixing plate, wherein the upper cover is arranged at the top of the outer shell, the camera fixing plate is arranged at the bottom of the outer shell, the main control board is arranged in the outer shell, the camera is mounted on the camera fixing plate, and the main control board is connected to the camera through a connecting line for communication;

[0006] The control system includes a main control MCU, a robot three-axis rod, a balance robot system, a tray with a cross mark and a power supply, the main control MCU is connected to the balance robot system, the outer shell is installed on the robot three-axis rod, and the balance robot system is connected to the robot three-axis rod.

[0007] Preferably, the communication mode between the main control MCU and the balance robot system is any one of a serial port, an Ethernet port, and WiFi.

[0008] Preferably, the main control MCU is a 32-bit ARM microcontroller STM32H743ZGT6 based on the Cortex-M3 core.

[0009] Preferably, connecting plates are provided on both sides of the outer shell, and mounting holes are provided on the connecting plates.

[0010] Compared with the prior art, the beneficial effects of the utility model are as follows: the present application designs a visual positioning method and device which are simple to install and suitable for the production of robot systems. Through this method and device, positioning is performed visually and communication is performed with the robot system. The X, Y, and Z axes of the three-axis rod of the robot system can be positioned to a reasonable position without human intervention; then the system automatically enters the robot testing phase, saving the time for manual positioning, making the robot system more automated, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a diagram of the visual positioning mechanism of the utility model;

[0012] Figure 2 This is a perspective view of the interior of the visual positioning mechanism of the utility model;

[0013] Figure 3 This is a schematic diagram of the structure of the control system of the utility model.

[0014] In the figure: 1. upper cover; 2. outer shell; 21. connecting plate; 3. main control board; 4. camera connecting line; 5. camera; 6. camera mounting plate; 7. tray; 8. robot three-axis rod; 9. balance robot system; 10. power supply. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0016] See also Figures 1 to 3The utility model provides a technical solution: a visual positioning device suitable for a balance robot system, including a visual positioning mechanism and a control system. The visual positioning mechanism includes an upper cover 1, an outer shell 2, a main control board 3, a camera connection line 4, a camera 5 and a camera fixing plate 6. The upper and lower ends of the outer shell 2 are respectively provided with an upper cover 1 and a camera fixing plate 6. The main control board 3 is arranged in the outer shell 2, and the camera 5 is installed on the camera fixing plate 6. The main control board 3 is connected to the camera 5 through the camera connection line 4. The control system includes a main control MCU, a robot three-axis rod 8, a balance robot system 9, a tray 7 with a cross mark and a power supply 10. The power supply 10 supplies power to the main control MCU. The main control MCU is connected to the balance robot system 9. The main control MCU controls the camera 5 to obtain the image of the weighing pan 7 and processes the obtained image. A program is stored in the main control MCU for processing image data and determining a coordinate. The method is to identify the cross star according to the image data, determine the pixel position of the cross star in the image, and then determine the positional relationship with the visual center (Z-axis center), and then transform the coordinates through Figure 3 The outer shell 2 is installed on the robot three-axis rod. Specifically, the robot three-axis rod includes an X-axis, a Y-axis, and a Z-axis. Connecting plates 21 are provided on both sides of the outer shell 2. The connecting plates 21 are provided with mounting holes. The outer shell 2 is installed on the Z-axis of the robot through the mounting holes. The outer shell 2 balances the robot system and connects the robot three-axis rod. The X-axis and Y-axis of the robot three-axis rod receive the coordinate information transmitted by the visual positioning device through the Robot system and perform corresponding movements.

[0017] It should be noted that the communication method of the present application can adopt a variety of methods, such as the communication method between the main control MCU and the balance robot system, and the communication between the balance robot system and the robot three axes, which can adopt any of the serial port (COM), Ethernet port, and WiFi.

[0018] In this embodiment, the main control MCU is a 32-bit ARM microcontroller STM32H743ZGT6 based on the Cortex-M3 core.

[0019] The workflow of the utility model is as follows: 1. Acquire the scale pan image; 2. Analyze and process the cross star position in the acquired image to determine the cross star coordinates; 3. Transmit the cross star coordinates to the balance robot system; 4. After receiving the coordinates, the balance robot system controls the three-axis movement of the robot rod to make the Z axis reach the cross star position; 5. Repeat the above process, and after confirming the Z axis position for the second time, start the balance detection process of the balance robot system.

[0020] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A visual positioning device suitable for a balance robot system, comprising a visual positioning mechanism and a control system, characterized in that: The visual positioning mechanism includes an upper cover, an outer shell, a main control board, a camera connecting line, a camera and a camera fixing plate, wherein the upper cover is arranged at the top of the outer shell, the camera fixing plate is arranged at the bottom of the outer shell, the main control board is arranged in the outer shell, the camera is mounted on the camera fixing plate, and the main control board is connected to the camera through a connecting line; The control system includes a main control MCU, a robot three-axis rod, a balance robot system, a tray with a cross mark and a power supply, the main control MCU is connected to the balance robot system, the outer shell is installed on the robot three-axis rod, and the balance robot system is connected to the robot three-axis rod.

2. A visual positioning device suitable for a balance robot system according to claim 1, characterized in that: The communication mode between the main control MCU and the balance robot system is any one of a serial port, an Ethernet port, and WiFi.

3. A visual positioning device suitable for a balance robot system according to claim 2, characterized in that: The main control MCU is a 32-bit ARM microcontroller STM32H743ZGT6 based on the Cortex-M3 core.

4. A visual positioning device suitable for a balance robot system according to claim 3, characterized in that: Connecting plates are arranged on both sides of the outer shell, and mounting holes are arranged on the connecting plates.

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