Machine vision teaching equipment

Abstract

The utility model discloses machine vision teaching equipment, relates to the technical field of automatic control teaching equipment, and aims to solve the problems of long teaching time, high cost and high understanding difficulty of students due to the fact that an algorithm needs to be modified when a conventional three-axis manipulator is used for switching directions. A three-axis mechanical motion assembly, a camera assembly and a light source assembly are arranged on the demonstration platform; the three-axis mechanical movement assembly comprises a double-axis movement module and a longitudinal movement module. The double-axis movement module comprises an X-axis movement module and a Y-axis movement module, the longitudinal movement module comprises a supporting frame and a Z-axis movement module, the camera assembly comprises a 2D camera and a 3D camera, the 2D camera and the 3D camera are integrated into one device, the structure is simplified, the cost is reduced, and meanwhile, in order to solve the problem that imaging is opposite, the device is convenient to carry and use. By means of the new three-axis grabbing design, forward operation can be achieved without setting reverse parameters, the needed time is short, and students can understand the forward operation more easily.

Description

Technical Field

[0001] The utility model relates to the technical field of automated control teaching equipment, in particular to machine vision teaching equipment. Background Art

[0002] Auxiliary teaching equipment is often used in machine vision teaching, generally including two main modules: camera and manipulator. At present, each teaching unit generally uses a single teaching equipment, that is, a device can only be used to teach one type of camera, one set of equipment for 2D camera and one set of equipment for 3D camera, which increases the purchase cost of the teaching unit.

[0003] In terms of robots, the current machine vision system imaging is opposite to the movement of the real object. Generally, a conventional three-axis robot is used. The X-axis drives the Y-axis, and the Z-axis is installed on the Y-axis to locate and grasp. This requires reverse setting of parameters to grasp. If you want to convert to the forward direction, you need to rewrite the program and modify the algorithm. This not only increases the writing time, but also makes it more difficult for students to understand for ordinary schools, prolongs the teaching time, increases the teaching cost, and the teaching effect is also poor.

[0004] Therefore, in view of the shortcomings of the above scheme in actual production and implementation, it has been revised and improved. At the same time, in the spirit and concept of seeking excellence, with the assistance of professional knowledge and experience, and after many ingenuity and experiments, a machine vision teaching device is provided to solve the current problems of the need to modify the algorithm when switching the direction of the three-axis robot, long teaching time, high cost and difficulty for students to understand.

[0005] There are significant differences in data processing between 2D cameras and 3D cameras, which is mainly reflected in the way they each acquire and process image information.

[0006] 2D cameras mainly acquire and process two-dimensional image information. They are composed of lenses, image sensors, image processing units, and mechanical structures. The lens is responsible for collecting image information of the object to be detected, the image sensor converts the image information into digital signals, and the image processing unit processes and analyzes the digital signals, including feature extraction, contrast, color, edge detection, etc., and finally outputs detection, recognition, positioning and other results. This processing method makes it fast, accurate, reliable, and flexible.

[0007] 3D cameras can obtain 3D information at the scale of the real world. Its data processing method is more complicated, involving the acquisition, processing and analysis of three-dimensional data. There are two ways to save the data obtained by 3D cameras: one is to directly save the 3D data format, such as the general point cloud format PLY, STL, etc. This method is mostly used for 3D reconstruction, map guidance and other directions; the other is for certain specific applications, such as height and defects in industrial inspection. These data may not require complete three-dimensional data, but only information of specific dimensions. In addition, the data processing of 3D cameras may also include steps such as preprocessing, calibration, line extraction, surface fitting, data correction and data fusion to achieve three-dimensional modeling and precise measurement of objects. Utility Model Content

[0008] The utility model aims to provide a machine vision teaching device, which is used to solve the problems that the current three-axis manipulator needs to modify the algorithm when switching directions, the teaching time is long, the cost is high, and the students are difficult to understand.

[0009] The technical solution of the utility model is achieved in this way:

[0010] A machine vision teaching device, comprising an electric control cabinet, a demonstration platform and a light shielding room are arranged on the top of the electric control cabinet, an industrial touch screen and a display are arranged on the light shielding room, and a three-axis mechanical motion component, a camera component and a light source component are arranged on the demonstration platform;

[0011] The three-axis mechanical motion assembly includes a two-axis motion module and a longitudinal motion module;

[0012] The dual-axis motion module includes an X-axis motion module and a Y-axis motion module, wherein the Y-axis motion module is located on top of the X-axis motion module and the X-axis motion module is perpendicular to the Y-axis motion module;

[0013] The longitudinal motion module includes a support frame and a Z-axis motion module, the Z-axis motion module includes a Z-axis drive cylinder, a piston end of the Z-axis drive cylinder is connected to a manipulator, the support frame is fixed on the demonstration table, and a mounting piece is provided on the support frame, and the mounting piece is used to longitudinally mount the Z-axis motion assembly;

[0014] The light-shielding room includes an observation port, and safety light curtains cooperating with each other are arranged on both sides of the observation port;

[0015] The camera assembly includes a 2D camera and a 3D camera.

[0016] As a preferred embodiment, two beams are arranged in the light-shielding room, the two beams are distributed up and down and are parallel to each other, a sliding beam is arranged between the two beams, the sliding beam is slidably connected to the cross beams, a sliding table is arranged on the sliding beam, a slider is slidably arranged on the sliding table, a connecting frame is arranged on the slider, and a 2D camera and a 3D camera are arranged on the connecting frame.

[0017] As a preferred implementation, the 2D camera and the 3D camera are arranged at the same horizontal height.

[0018] As a preferred implementation, the light source assembly includes a column, a clamping device and a lamp body, the column is fixed to the demonstration table by bolts, the clamping device is fixed to the side wall of the column by bolts, and the clamping device is used to clamp the lamp body.

[0019] As a preferred implementation, the light-shielding chamber comprises a frame and organic glass, and both ends of the crossbeam are fixed on the frame.

[0020] As a preferred embodiment, an inspection door is provided on the light-shielding chamber, the observation port is located at the front end of the light-shielding chamber, and the inspection door is located at the rear end of the light-shielding chamber.

[0021] The beneficial effects of the utility model are:

[0022] In order to solve the problems existing in the existing technology, we have developed a new machine vision teaching equipment, integrating 2D camera and 3D camera into one device, simplifying the structure and reducing costs. At the same time, in order to solve the problem of reverse imaging, a new three-axis grasping design is used, which can achieve forward operation without setting reverse parameters, requiring less time, reducing teaching costs, and making it easier for students to understand.

[0023] Specifically reflected in:

[0024] (1) The 2D camera and 3D camera are integrated into one device. Instead of two sets of equipment, only one set is needed to meet the training needs, thus reducing the overall equipment cost.

[0025] (2) The three-axis grasping device was redesigned. In the conventional three-axis system, the Z axis moves under the drive of the XY axis. Because the camera imaging is in the reverse direction, the conventional three-axis movement must be designed with reverse movement parameters. If you want to convert it to the forward direction, you need to rewrite the program and modify the algorithm. The teaching cost is high and difficult to understand. The newly designed three-axis system uses the Z axis to fix and the XY axis to move. This will make the camera image movement direction the same as the three-axis movement parameters. It is simple and easy to learn, which reduces the teaching cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 It is a structural schematic diagram of an implementation method of the utility model;

[0028] Figure 2 It is a partial structural schematic diagram of an implementation method of the utility model;

[0029] Figure 3 This is a schematic diagram of the internal structure of the light-shielding chamber of the utility model;

[0030] Figure 4 It is a structural schematic diagram of the camera assembly of the utility model;

[0031] Figure 5 This is a schematic diagram of the structure of the dual-axis motion module of the utility model;

[0032] Figure 6 This is a schematic diagram of the structure of the longitudinal motion module of the utility model;

[0033] Figure 7 It is a structural schematic diagram of the light source assembly of the utility model.

[0034] In the figure, 1-demonstration table; 2-light-shielding room; 3-electric control cabinet; 4-display; 5-safety light curtain; 6-observation port; 7-inspection door; 8-plexiglass; 9-frame; 10-industrial touch screen; 11-camera assembly; 12-light source assembly; 13-three-axis mechanical motion assembly; 14-slide; 15-slider; 16-sliding beam; 17-3D camera; 18-crossbeam; 19-connecting frame; 20-2D camera; 21-Y-axis motion module; 22-X-axis motion module; 23-dual-axis motion module; 24-Z-axis drive cylinder; 25-longitudinal motion module; 26-mounting piece; 27-support frame; 28-clamping device; 29-column; 30-lamp body. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0036] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0037] In addition, the descriptions of "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0038] In the description of the embodiments, unless otherwise clearly specified and limited, the terms "disposed", "connected" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or it can be connected through an intermediate medium, or it can be a communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0039] like Figure 1 to Figure 7 As shown, a machine vision teaching device includes an electric control cabinet 3, a demonstration platform 1 and a light shielding room 2 are arranged on the top of the electric control cabinet 3, an industrial touch screen 10 and a display 4 are arranged on the light shielding room 2, and a three-axis mechanical motion component 13, a camera component 11 and a light source component 12 are arranged on the demonstration platform 1;

[0040] The three-axis mechanical motion assembly 13 includes a two-axis motion module 23 and a longitudinal motion module 25;

[0041] The dual-axis motion module 23 includes an X-axis motion module 22 and a Y-axis motion module 21, wherein the Y-axis motion module 21 is located on the top of the X-axis motion module 22 and the X-axis motion module 22 is perpendicular to the Y-axis motion module 21;

[0042] The longitudinal motion module 25 includes a support frame 27 and a Z-axis motion module. The Z-axis motion module includes a Z-axis cylinder. The piston end of the Z-axis drive cylinder 24 is connected to a manipulator. The support frame 27 is fixed on the demonstration platform 1. The support frame 27 is provided with a mounting member 26. The mounting member 26 is used to longitudinally mount the Z-axis motion assembly.

[0043] The light-shielding room 2 includes an observation port 6, and safety light curtains 5 that cooperate with each other are arranged on both sides of the observation port 6;

[0044] The camera assembly 11 includes a 2D camera 20 and a 3D camera 17 .

[0045] Two cross beams 18 are arranged in the light-shielding chamber 2. The two cross beams 18 are distributed up and down and are parallel to each other. A sliding beam 16 is arranged between the two cross beams 18. The sliding beam 16 is slidably connected to the cross beam 18. A sliding table 14 is arranged on the sliding beam 16. A slider 15 is slidably arranged on the sliding table 14. A connecting frame 19 is arranged on the slider 15. A 2D camera 20 and a 3D camera 17 are arranged on the connecting frame 19.

[0046] The 2D camera 20 and the 3D camera 17 are arranged at the same level.

[0047] The light source assembly 12 includes a column 29 , a clamping device 28 and a lamp body 30 . The column 29 is fixed to the demonstration platform 1 by bolts. The clamping device 28 is fixed to the side wall of the column 29 by bolts. The clamping device 28 is used to clamp the lamp body 30 .

[0048] The light-shielding chamber 2 comprises a frame 9 and organic glass 8 , and both ends of the crossbeam 18 are fixed on the frame 9 .

[0049] An inspection door 7 is provided on the light-shielding chamber 2 , the observation port 6 is located at the front end of the light-shielding chamber 2 , and the inspection door 7 is located at the rear end of the light-shielding chamber 2 .

[0050] The electric control cabinet 3 has openable plexiglass doors 8 at the front and rear, a frame 9 is built inside with aluminum profiles, and a demonstration table 1 is installed on it. A drawer is installed on the top to store the mouse, keyboard, material tray, test materials, etc. The structure of the shading room 2 also adopts frame 9 + plexiglass 8, but the plexiglass 8 adopts brown plexiglass 8 to achieve a shading effect.

[0051] The demonstration platform 1 (plate-shaped) is installed on the electric control cabinet 3 and is formed by splicing aluminum profiles. The bottom is connected to the electric control cabinet 3 by bolts, and the upper part is installed with a shading room 2 and a three-axis mechanical motion component 13.

[0052] The 2D camera 20 and the 3D camera 17 are fixed at the same height by a connecting frame 19 (aluminum profile). The connecting frame 19 is installed on a manually adjustable slider 15. The slider 15 is slidably connected to the slide table 14 to achieve manual height adjustment. The slider 15 can be manually locked at any height. The sliding beam 16 can slide left and right and be locked, so the camera can move up and down and left and right.

[0053] The three-axis mechanical motion assembly 13 is installed on the demonstration table 1. The cross slide 14 composed of two linear modules realizes X-axis and Y-axis motion control through a stepper motor. The Z-axis adopts an electric cylinder and is controlled by a stepper motor. The Z-axis is directly fixed on the mounting base, so there will be no movement of the X-axis and Y-axis. Through this design, the camera image movement direction and the actual movement direction can be achieved.

[0054] The light-shielding room 2 is made of aluminum profile frames 9, and brown organic glass 8 is inlaid in the middle of the frame 9, which can effectively prevent the influence of external light on the camera. At the same time, an openable inspection door 7 is designed to facilitate installation and maintenance. A light curtain is installed at the front door to prevent mechanical damage during movement. A touch screen is installed on the side. The touch screen box is installed on the light-shielding room 2 through a damping hinge and can be opened and closed at any angle.

[0055] The beneficial effects of the utility model are:

[0056] In order to solve the problems existing in the prior art, we have developed a new machine vision teaching device, integrating the 2D camera 20 and the 3D camera 17 into one device, simplifying the structure and reducing the cost. At the same time, in order to solve the problem of reverse imaging, a new three-axis grasping design is used, and forward operation can be achieved without setting reverse parameters, which requires less time, reduces teaching costs, and is easier for students to understand.

[0057] Specifically reflected in:

[0058] (1) The 2D camera and 3D camera are integrated into one device. Instead of two sets of equipment, only one set is needed to meet the training needs, thus reducing the overall equipment cost.

[0059] (2) The three-axis grasping device was redesigned. In the conventional three-axis system, the Z axis moves under the drive of the XY axis. Because the camera imaging is in the reverse direction, the conventional three-axis movement must be designed with reverse movement parameters. If you want to convert it to the forward direction, you need to rewrite the program and modify the algorithm. The teaching cost is high and difficult to understand. The newly designed three-axis system uses the Z axis to fix and the XY axis to move. This will make the camera image movement direction the same as the three-axis movement parameters. It is simple and easy to learn, which reduces the teaching cost.

[0060] The above is only a preferred embodiment of the utility model, and is not intended to limit the utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement; when the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the utility model.

Claims

1. A machine vision teaching device, comprising an electric control cabinet, a demonstration platform and a light-shielding room are arranged on the top of the electric control cabinet, and an industrial touch screen and a display are arranged on the light-shielding room, characterized in that: The demonstration platform is equipped with a three-axis mechanical motion component, a camera component and a light source component; The three-axis mechanical motion assembly includes a two-axis motion module and a longitudinal motion module; The dual-axis motion module includes an X-axis motion module and a Y-axis motion module, wherein the Y-axis motion module is located on top of the X-axis motion module and the X-axis motion module is perpendicular to the Y-axis motion module; The longitudinal motion module includes a support frame and a Z-axis motion module. The support frame is fixed on the demonstration table. A mounting piece is provided on the support frame. The mounting piece is used to longitudinally mount the Z-axis motion component. The light-shielding room includes an observation port, and safety light curtains cooperating with each other are arranged on both sides of the observation port; The camera assembly includes a 2D camera and a 3D camera.

2. A machine vision teaching device according to claim 1, characterized in that: Two beams are arranged in the light-shielding room, the two beams are distributed up and down and are parallel to each other, a sliding beam is arranged between the two beams, the sliding beam is slidably connected to the beams, a sliding table is arranged on the sliding beam, a slider is slidably arranged on the sliding table, a connecting frame is arranged on the slider, and a 2D camera and a 3D camera are arranged on the connecting frame.

3. A machine vision teaching device according to claim 2, characterized in that: The 2D camera and the 3D camera are arranged at the same horizontal height.

4. A machine vision teaching device according to claim 1, characterized in that: The light source assembly comprises a column, a clamping device and a lamp body. The column is fixed on the demonstration platform by bolts, and the clamping device is fixed on the side wall of the column by bolts. The clamping device is used to clamp the lamp body.

5. A machine vision teaching device according to claim 2, characterized in that: The light-shielding room comprises a frame and organic glass, and the two ends of the crossbeam are fixed on the frame.

6. A machine vision teaching device according to claim 1, characterized in that: An inspection door is arranged on the light-shielding chamber, the observation port is located at the front end of the light-shielding chamber, and the inspection door is located at the rear end of the light-shielding chamber.

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