Welding operation visual device based on binocular camera

Abstract

The utility model relates to the technical field of vision devices, and provides a welding operation vision device based on a binocular camera, which is suitable for welding operation of a welding robot and comprises a mounting plate, a light source assembly and an image acquisition unit, and the image acquisition unit comprises a rotating table, a driving motor, a mounting seat and the binocular camera. The mounting base is arranged on the side, away from the driving motor, of the rotating table, and the binocular camera is mounted on the mounting base; the light source assembly is arranged on the mounting plate and located on one side of the image acquisition unit; the binocular camera and the light source assembly are arranged to be of an adjustable structure, images of a welding workpiece can be comprehensively and accurately collected, and multi-angle light supplementing work is carried out to ensure that the collected images are clear.

Description

TECHNICAL FIELD

[0001] The utility model relates to visual device technical field, especially in kind based on binocular camera's welding operation visual device. BACKGROUND

[0002] With the continuous adjustment and transformation of industrial structure, the intelligent equipment industry represented by robots develops rapidly and has become an important benchmark of technological innovation in the new era. As a new type of equipment in the welding industry, welding robots replace manual welding work. Visual positioning, as a relatively important technology in industrial robots, can enable welding robots to autonomously find workpieces for welding work.

[0003] CN203765194U discloses a visual device for a welding robot, comprising a shell, a CCD camera, a filter lens, a telescopic baffle, a rear cover, a screw, a fixed plate, a ball hinge, a rear cover support, a gas pipe joint, a camera support, a bolt and a telescopic baffle adjusting screw; the CCD camera is connected to the camera support, the camera support is fixed to the rear cover, and the rear cover is fixed to the shell; the filter lens is installed at the head of the shell; when the filter lens is opened, the CCD camera can directly collect images; when the filter lens is closed, the CCD camera transmits through the filter lens to collect images of the welding piece; the telescopic baffle is installed on the side of the shell and can be pulled down or retracted; the gas pipe joint is fixed to the tail of the shell, the rear cover support is fixed to the shell and connected to the fixed plate through the ball hinge, thereby being fixed to the welding robot.

[0004] In the prior art, the camera in the visual device is usually fixedly installed on a rack or a mechanical arm, and images are collected through the camera. Currently, during collection, especially when collecting large workpieces, it is easy to collect incomplete images or inaccurate images. Moreover, due to the limitation of the light source in the site, or when collecting the recessed parts of the workpiece, there are parts that cannot be irradiated by light, and the image collection error is relatively large, which affects the subsequent welding path planning. UTILITY MODEL CONTENTS

[0005] In the prior art, the camera in the visual device is usually fixedly installed on a rack or a mechanical arm, and images are collected through the camera. Currently, during collection, especially when collecting large workpieces, it is easy to collect incomplete images or inaccurate images. Moreover, due to the limitation of the light source in the site, or when collecting the recessed parts of the workpiece, there are parts that cannot be irradiated by light, and the image collection error is relatively large, which affects the subsequent welding path planning.

[0006] Therefore, the utility model aims at providing a welding operation visual device based on binocular cameras. In the utility model, the device comprises a mounting plate, a light source assembly and an image acquisition unit.

[0007] The image acquisition unit comprises a rotating table, a driving motor, a mounting seat and a binocular camera, one end of the rotating table is rotationally connected with the mounting plate, the driving motor is mounted on the bottom of the mounting plate and connected with the rotating table, and the driving motor controls the rotation of the rotating table; the mounting seat is arranged on the side of the rotating table away from the driving motor, and the binocular camera is mounted on the mounting seat.

[0008] The light source assembly is arranged on the mounting plate and located on one side of the image acquisition unit, and the light source assembly is used for illuminating the shooting area of the binocular camera.

[0009] The binocular camera mentioned in the utility model has two lenses, can acquire images of the welding workpiece from multiple angles, carries out RGB image feature point matching based on the visual principle, is convenient for subsequent three-dimensional modeling, has an image acquisition range of 0.1m-100m, and can be used indoors and outdoors; the binocular camera can capture two images of the same scene based on the parallax principle through two lenses placed side by side, calculate the three-dimensional coordinates of the welding workpiece by using the difference between the images, and improve the precision of image recognition.

[0010] Further, an angle scale is arranged on the mounting plate for measuring the rotation angle of the rotating table.

[0011] Further, a limiting column is arranged on the mounting plate, and a limiting groove for the limiting column to enter is formed on the side of the rotating table facing the limiting column.

[0012] Further, a driving member, a first gear, a second gear and a rotating rod are arranged in the mounting seat; the first gear and the second gear are both mounted in the mounting seat through rotating shafts; the driving member is connected with the first gear to drive the first gear to rotate, and the first gear and the second gear are in meshing transmission; one end of the rotating rod is connected with the second gear, and the other end is connected with the binocular camera.

[0013] Further, a connecting member is detachably connected with the bottom of the mounting plate.

[0014] Further, the light source assembly comprises a vertical plate mounted on the mounting plate and a first light source member arranged on the vertical plate, and the vertical plate is vertically arranged on the mounting plate.

[0015] Further, a second light source member is detachably mounted on the vertical plate through a connecting assembly.

[0016] Further, the connecting assembly comprises a screw hole formed in the vertical plate and a screw rod capable of being inserted into the screw hole and threadedly connected with the screw hole, and the screw rod is connected with the second light source member.

[0017] Further, the screw rod is provided with a hinged seat, and the second light source member is hinged to the hinged seat.

[0018] Further, the screw rod and the hinged seat are connected through a rotating disc.

[0019] The utility model discloses a welding operation visual device based on binocular camera, through the setting of mounting panel, light source subassembly and image acquisition unit, with binocular camera setting on rotating platform can adjust the shooting direction along with rotating platform rotation, improve the comprehensiveness and accuracy of the image acquisition, through the adjustment mode of left and right rotation and up and down rotation, the comprehensiveness of image acquisition is greatly improved, and the error of shooting image is reduced, cooperate the setting of light source subassembly, through the all -round light supplement work of first light source member and second light source member to the shooting work piece, improve the definition of subsequent image extraction, improve the accuracy of subsequent welding path planning.

[0020] Other features and advantages of the utility model will be described in detail in the following specific embodiment part. ACCREDITED DRAWINGS

[0021] The drawings that constitute a part of the utility model are used to provide further understanding on the utility model, and the illustrative embodiment of the utility model and its explanation are used to explain the utility model, and do not constitute improper limitation to the utility model.In the drawings:

[0022] Figure 1 It is the installation schematic view of visual device in the utility model,

[0023] Figure 2 It is the structure schematic view of visual device in the utility model,

[0024] Figure 3 It is Figure 2 The side view schematic view of,

[0025] Figure 4 It is Figure 2 The top view schematic view of,

[0026] Figure 5 It is the structure schematic view of mounting seat in one embodiment of the utility model,

[0027] Figure 6 It is the state schematic view of rotating rod when rotating in one embodiment of the utility model,

[0028] Figure 7 It is the installation schematic view of light source subassembly in one embodiment of the utility model,

[0029] Figure 8 It is the structure schematic view of second light source member in one embodiment of the utility model,

[0030] Figure 9 It is a structure schematic view of binocular camera in one embodiment of the utility model.

[0031] Marked for explanation:

[0032] 1, mounting plate; 2, mounting stand; 3, light source assembly; 31, first light source piece; 32, vertical plate; 33, side plate; 34, slide bar; 35, screw hole; 36, second light source piece; 37, hinged seat; 38, rotating disc; 4, image acquisition unit; 41, rotating table; 42, driving motor; 43, mounting seat; 431, first gear; 432, second gear; 433, rotating rod; 44, binocular camera; 45, angle scale line; 46, limiting column; 47, limiting groove. DETAILED DESCRIPTION

[0033] The specific embodiments of the utility model will be described in detail below in combination with the drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the utility model, and are not used to limit the utility model.

[0034] In order to make the person in the technical field better understand the utility model scheme, the technical scheme in the embodiment of the utility model will be described clearly and completely below in combination with the drawings in the embodiment of the utility model. Obviously, the described embodiments are only a part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the utility model.

[0035] It should be noted that the terms "first", "second" and the like in the specification and claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the utility model described herein can be interchanged. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, the process, method, system, product or equipment including a series of steps or units does not have to be limited to the clearly listed steps or units, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment; "fixed" or "fixedly connected" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0036] In the prior art, the binocular camera 44 in the visual device is usually fixedly installed on a rack or a mechanical arm, and when collecting images through the binocular camera 44, the phenomenon of incomplete collection or inaccurate image collection is prone to occur during collection, especially when collecting large workpieces, and due to the limitation of the light source of the site or the existence of a part of the workpiece that cannot be irradiated by light, the image collection error is relatively large, which affects the subsequent welding path planning.

[0037] The utility model provides a kind of welding operation visual device based on binocular camera, as shown in Figure 1 、 Figure 2 、 Figure 3 And Figure 4 In the embodiment, the device includes mounting plate 1, light source assembly 3 and image acquisition unit 4;Image acquisition unit 4 includes rotating table 41, drive motor 42, mounting seat 43 and binocular camera 44, one end of rotating table 41 is rotatably connected with mounting plate 1, drive motor 42 is installed at the bottom of mounting plate 1, the output shaft of drive motor 42 passes through mounting plate 1 and is connected with rotating table 41 and drives rotating table 41 to rotate;Mounting seat 43 is arranged on the side of rotating table 41 away from drive motor 42, binocular camera 44 is installed on mounting seat 43, rotating table 41 is driven to rotate by drive motor 42, so that mounting seat 43 and binocular camera 44 on rotating table 41 move;The image collection mode of the binocular camera 44 can be: first, according to the live of workpiece, rotating table 41 is rotated to specified angle to workpiece image shooting, different directions of binocular camera 44 can be adjusted according to different workpiece positions to shoot image;Second, control rotating table 41 to rotate a certain angle and reverse to original position, continuous image is collected;Wherein, light source assembly 3 is arranged on mounting plate 1 and located at the side of image acquisition unit 4, light source assembly 3 is used for illuminating the shooting area of binocular camera 44, and plays the role of light supplement.

[0038] Figure 9 It is the structure diagram of binocular camera in an embodiment of the utility model;As shown in Figure 9As shown, the binocular camera mentioned in the utility model has two lenses, can obtain images of the welding workpiece from multiple angles, and the light supplement lamp and distance sensor are arranged between the two lenses, which are used for accurate light supplement and detection of the distance between the binocular camera and the welding workpiece; the binocular camera performs RGB image feature point matching based on the visual principle, which is convenient for subsequent three-dimensional modeling, the binocular camera has an image acquisition range of 0.1m-100m and can be used indoors and outdoors; the advantages of the binocular camera mainly include the following aspects: first, high-precision measurement, the binocular camera can provide micron-level measurement accuracy, is suitable for scenes requiring high-precision measurement, can better identify the weld, and can capture images of different angles through two cameras, the binocular camera can realize stereo vision and depth perception, and provide more accurate object recognition and positioning; second, real-time, the binocular camera can quickly process image data, meet the image acquisition requirements of the welding workstation, and can adapt to different working environments and work normally in environments with large changes in light; the binocular camera can capture two images of the same scene through two lenses placed side by side based on the parallax principle, calculate the three-dimensional coordinates of the welding workpiece by using the differences between the images, and improve the accuracy of image recognition.

[0039] In order to ensure the accuracy of the angle adjustment of the binocular camera 44, an angle scale line 45 for measuring the rotation angle of the rotating table 41 is arranged on the mounting plate 1, so that the rotation angle value can be intuitively read when adjusting the shooting angle of the rotating table 41 (the binocular camera 44), the stability of the control of the driving motor 42 is improved, and the driving motor 42 can be found in time when it fails, and the driving motor 42 is arranged as a stepping motor to improve the accuracy.

[0040] In order to further improve the stability of the rotation of the rotating table 41, a limiting column 46 is vertically fixed on the mounting plate 1, and a limiting groove 47 for the limiting column 46 to enter is formed on one side of the rotating table 41 facing the limiting column 46; when the rotating table 41 rotates, the limiting column 46 abuts against the limiting groove 47 on the rotating table 41, limiting the rotating table 41 from continuing to rotate, which can ensure the stability of the rotating table 41 and avoid affecting the rotation of the rotating table 41 due to inertia, the limiting column 46 plays a limiting role and avoids the rotating table 41 from rotating beyond the scale.

[0041] Figure 5 It is a structural schematic view of the mounting seat in an embodiment of the utility model; Figure 6 It is a state schematic view of the rotating shaft when rotating in an embodiment of the utility model; as Figure 5 And Figure 6 As shown:

[0042] In order to further improve the comprehensiveness of the photographed image, improve the adaptability of the image acquisition unit 4, the driving part, the first gear 431, the second gear 432 and the rotating rod 433 are arranged in the mounting seat 43; wherein the first gear 431 and the second gear 432 are both installed in the mounting seat 43 through the rotating shaft, and the rotating shaft is horizontally installed in the mounting seat 43; the driving part is installed in the mounting seat 43, and the driving part is arranged as a small motor, the driving part is connected with the rotating shaft on the first gear 431 to drive the rotating shaft to rotate, thereby driving the first gear 431 to rotate, the first gear 431 and the second gear 432 are in meshing transmission, and the second gear 432 is driven to rotate when the first gear 431 is driven to rotate, and one end of the rotating rod 433 is fixedly connected with the second gear 432, so that the rotating rod 433 can be driven to rotate when the driving part rotates, and the upward or downward rotation of the rotating rod 433 is realized; a camera group is installed at the other end of the rotating rod 433, and the camera group is composed of a plurality of binocular cameras 44; through the upward and downward rotation of the rotating rod 433, the use requirement of photographing images at different heights is met, and the welding workpiece with high height can be photographed; and similarly, in other embodiments, a scale disc is arranged in the vertical direction of the mounting seat 43, so that the rotation angle of the rotating rod 433 can be read; and the image acquisition mode is also the same, that is, the rotating rod 433 can be rotated to a specified angle according to the actual situation of the workpiece to photograph the image of the workpiece, or the rotating rod 433 can be controlled to rotate to a certain angle and then reverse to the original position to photograph and collect continuous images.

[0043] In order to be able to install the visual device on different sites; the bottom of the mounting plate 1 is detachably connected with a connecting part, such as Figure 1 as shown in the middle, the connecting part can be arranged as a mounting column 2, so that the visual device is installed on the ground for use; in other embodiments, the connecting part can be arranged as other structures, and the visual device can be directly installed on the gantry, track and other welding use equipment.

[0044] Figure 7 is a mounting schematic view of the light source assembly 3 in an embodiment of the utility model; as Figure 7 shown:

[0045] In order to improve the clarity of the photographed image, the light source assembly 3 is arranged and installed on the vertical plate 32 of the mounting plate 1 and the first light source part 31 arranged on the vertical plate 32, and the vertical plate 32 is vertically arranged on the mounting plate 1; specifically, in this embodiment, a horizontally mounted slide rod 34 is arranged, and the vertical plate 32 is slidingly arranged on the slide rod 34 and can move horizontally on the slide rod 34, that is, the position of the first light source is adjusted to adapt to the light supplement work at different positions.

[0046] Regarding the installation of the slide bar 34, two side plates 33 are vertically installed on the mounting plate 1, and the slide bar 34 is arranged between the two side plates 33, the end of the slide bar 34 is provided with a thread, and the slide bar 34 is fixed on the side plate 33 by cooperating with a sleeve, so that the slide bar 34 can be disassembled, and the vertical plate 32 can also be disassembled, thereby facilitating the disassembly and maintenance of the first light source part 31; the slide bar 34 is provided as a plurality of slide bars, and at least two slide bars 34 are slidably connected to the vertical plate 32, thereby improving the stability of the installation and movement of the vertical plate 32.

[0047] Figure 8 It is a structural schematic view of the second light source part in an embodiment of the utility model; as shown in Figure 8

[0048] In order to further ensure the clarity of image acquisition, the second light source part 36 is arranged on the vertical plate 32, and the second light source part 36 is detachably installed on the vertical plate 32 through a connecting assembly; the connecting assembly comprises a threaded hole 35 arranged on the vertical plate 32 and a screw rod capable of being inserted into the threaded hole 35 and threadedly connected with the threaded hole 35, and the screw rod is connected with the second light source part 36; when the second light source part 36 needs to be used, the screw rod on the second light source part 36 is rotated and inserted into the threaded hole 35 on the vertical plate 32 to complete the installation, and the installation and disassembly are convenient.

[0049] In order to improve the flexibility of the second light source and enable it to accurately supplement light at the image acquisition position, a hinge seat 37 is arranged between the screw rod and the second light source part 36, the second light source part 36 is hinged with the hinge seat 37, so that the second light source part 36 can be adjusted in angle after installation along the hinge seat 37; at the same time, a rotating disc 38 is arranged between the screw rod and the hinge seat 37, so that the hinge seat 37 and the second light source part 36 can rotate on the screw rod, and through cooperation with the hinge seat 37, the second light source part 36 can be adjusted at any angle to accurately perform light supplement work.

[0050] Among them, the first light source part 31 and the second light source part 36 can be set as incandescent lamps, LED lamps and other light emitting devices.

[0051] The utility model discloses through the setting of mounting plate 1, light source assembly 3 and image acquisition unit 4, through setting binocular camera 44 on rotating table 41 can with rotating table 41 rotation adjustment shooting direction, improve the comprehensiveness and accuracy of obtaining image, through the adjustment mode of left and right rotation and up and down rotation, the comprehensiveness of image acquisition is greatly improved, and the error of shooting image is reduced, cooperate with the setting of light source assembly 3, through the first light source part 31 and the second light source part 36, the light supplement work of all directions to the shooting workpiece is carried out, improve the definition of subsequent image extraction, improve the accuracy of subsequent welding path planning.

[0052] ​The above merely describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A welding operation vision device based on a binocular camera, characterized in that, It includes a mounting plate (1), a light source assembly (3), and an image acquisition unit (4); The image acquisition unit (4) includes a rotating stage (41), a drive motor (42), a mounting base (43), and a binocular camera (44). One end of the rotating stage (41) is rotatably connected to the mounting plate (1). The drive motor (42) is mounted on the bottom of the mounting plate (1) and connected to the rotating stage (41). The drive motor (42) controls the rotating stage (41) to rotate. The mounting base (43) is located on the side of the rotating stage (41) away from the drive motor (42). The binocular camera (44) is mounted on the mounting base (43). The light source assembly (3) is disposed on the mounting plate (1) and located on one side of the image acquisition unit (4). The light source assembly (3) is used to illuminate the shooting area of ​​the binocular camera (44).

2. The welding operation vision device based on a binocular camera according to claim 1, characterized in that, The mounting plate (1) is provided with an angle scale line (45) for measuring the rotation angle of the rotary table (41).

3. The welding operation vision device based on a binocular camera according to claim 1, characterized in that, The mounting plate (1) is provided with a limiting post (46), and the rotating table (41) is provided with a limiting groove (47) on the side facing the limiting post (46) for the limiting post (46) to enter.

4. The welding operation vision device based on a binocular camera according to any one of claims 1-3, characterized in that, The mounting base (43) is provided with a driving component, a first gear (431), a second gear (432), and a rotating rod (433); the first gear (431) and the second gear (432) are both mounted inside the mounting base (43) via rotating shafts; the driving component is connected to the first gear (431) to drive the first gear (431) to rotate, and the first gear (431) and the second gear (432) mesh and transmit power; one end of the rotating rod (433) is connected to the second gear (432), and the other end is connected to the binocular camera (44).

5. The welding operation vision device based on a binocular camera according to any one of claims 1-3, characterized in that, The bottom of the mounting plate (1) is detachably connected to a connecting component.

6. The welding operation vision device based on a binocular camera according to any one of claims 1-3, characterized in that, The light source assembly (3) includes a vertical plate (32) mounted on the mounting plate (1) and a first light source element (31) disposed on the vertical plate (32), wherein the vertical plate (32) is vertically disposed on the mounting plate (1).

7. The welding operation vision device based on a binocular camera according to claim 6, characterized in that, A second light source (36) is detachably mounted on the upright plate (32) via a connecting assembly.

8. The welding operation vision device based on a binocular camera according to claim 7, characterized in that, The connecting assembly includes a screw hole (35) formed on the upright plate (32) and a screw rod that can be inserted into the screw hole (35) and is threadedly connected to the screw hole (35), the screw rod being connected to the second light source (36).

9. The welding operation vision device based on a binocular camera according to claim 8, characterized in that, The screw is provided with a hinge seat (37), and the second light source (36) is hinged to the hinge seat (37).

10. The welding operation vision device based on a binocular camera according to claim 9, characterized in that, The screw and the hinge seat (37) are connected by a turntable (38).

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