Visual positioning device for shooting positioning characteristics
By using two camera modules arranged side by side in the visual positioning device, with opposite shooting directions and coaxial shooting centers, combined with a reflector and adjustment mechanism, the accuracy problem of the visual positioning system in high-precision assembly is solved, and high-precision component alignment and assembly are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-07
- Publication Date
- 2026-03-06
AI Technical Summary
Existing visual positioning systems are insufficient for high-precision application scenarios, especially during assembly, where displacement errors of the moving axes result in low positioning accuracy.
Two camera modules are arranged side by side with opposite shooting directions and shooting centers on the same axis. By integrating two vision shooting systems, the positioning features of the parts are captured simultaneously. Precise alignment is achieved using a reflector and a reflected light path, and the positioning accuracy is improved by adjusting the mechanism and an autofocus system.
It enables in-situ assembly of components, reduces displacement error of the moving axis, improves positioning accuracy, and is suitable for high-precision application scenarios.
Smart Images
Figure CN223971552U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of visual positioning technology, and in particular to a visual positioning device for capturing positioning features. Background Technology
[0002] In the manufacturing industry, assembling two parts into one is a common process in product production, usually achieved through a vision positioning system. The traditional assembly method involves using two vision positioning systems to photograph the upper surface of one part and the lower surface of the other part, positioning them, and then moving the two parts to a single location for assembly.
[0003] In this method, the two parts are usually not positioned vertically during filming. After positioning, they need to be moved to a new location for assembly. However, this movement introduces displacement errors in the moving axis, which typically exceed the positional tolerances of the assembled parts, resulting in low accuracy. Furthermore, some products have stringent assembly requirements, making current vision positioning systems insufficient for high-precision applications.
[0004] In the process of developing this utility model, the applicant discovered at least the following problems in the prior art:
[0005] Current visual positioning systems are insufficient for high-precision application scenarios. Utility Model Content
[0006] The purpose of this invention is to provide a visual positioning device for capturing positioning features, thereby solving the technical problem that existing visual positioning systems are unable to meet the requirements of high-precision application scenarios. The various technical effects of the preferred solutions among the many technical solutions provided by this invention are detailed below.
[0007] To achieve the above objectives, the present invention provides the following technical solution:
[0008] This utility model provides a visual positioning device for capturing and positioning positioning features, used for capturing and positioning a first component and a second component. The device includes a first camera module, a second camera module, and a mounting reference plate. The first camera module and the second camera module are arranged side-by-side on the mounting reference plate, with the shooting direction of the first camera module opposite to that of the second camera module. The shooting centers of the first camera module and the second camera module are located on the same axis. The first camera module is used to capture and position positioning features on the first component, and the second camera module is used to capture and position positioning features on the second component.
[0009] Optionally, the first camera module is fixedly connected to the mounting reference plate and includes a first optical path structure, a first lens, and a first camera; the first optical path structure, the first lens, and the first camera are connected in sequence; the first optical path structure includes a first reflected optical path, a second reflected optical path, a third reflected optical path, a first reflector, and a second reflector; the first reflected optical path and the second reflected optical path are perpendicularly arranged in the XY plane, and the first reflector is located at the intersection of the first reflected optical path and the second reflected optical path, with an angle of 45° with the first reflected optical path and the second reflected optical path; the second reflected optical path and the third reflected optical path are perpendicularly arranged in the XZ plane, and the second reflector is located at the intersection of the second reflected optical path and the third reflected optical path, with an angle of 45° with the second reflected optical path and the third reflected optical path.
[0010] Optionally, a first light source is provided in the third reflected light path, and the first light source is used to provide a shooting light source for the surface of the first component.
[0011] Optionally, the second camera module is slidably connected to the mounting reference plate, including a shooting mechanism and an adjustment mechanism fixedly connected to the shooting mechanism; the shooting mechanism includes: a second optical path structure, a second lens, and a second camera; the second optical path structure, the second lens, and the second camera are connected in sequence; the second optical path structure includes a fourth reflective optical path, a fifth reflective optical path, a sixth reflective optical path, a third reflector, and a fourth reflector; the fourth reflective optical path and the fifth reflective optical path are perpendicularly arranged in the XY plane, and the third reflector is located at the intersection of the fourth and fifth reflective optical paths, with an angle of 45° with the fourth and fifth reflective optical paths; the fifth reflective optical path and the sixth reflective optical path are perpendicularly arranged in the XZ plane, and the fourth reflector is located at the intersection of the fifth and sixth reflective optical paths, with an angle of 45° with the fifth and sixth reflective optical paths.
[0012] Optionally, the third reflected light path and the sixth reflected light path are arranged on the same straight line; the second reflector and the fourth reflector are stacked.
[0013] Optionally, a second light source is provided in the sixth reflected light path, which is used to provide a shooting light source for the surface of the second component.
[0014] Optionally, the second lens is equipped with an autofocus system for automatically adjusting the focus; the autofocus range of the autofocus system is 3mm-5mm.
[0015] Optionally, the first, second, third, and fourth reflectors are plane mirrors or beam splitters.
[0016] Optionally, the adjustment mechanism includes a Y-axis moving component, a Y-axis guide rail, a drive motor, and a lead screw; the Y-axis moving component is movably connected to the Y-axis guide rail; the Y-axis guide rail is fixedly connected to the mounting reference plate; the drive motor is fixedly connected to the mounting reference plate and connected to the Y-axis moving component through the lead screw, for driving the Y-axis moving component to move in the Y-axis direction.
[0017] Optionally, the shooting mechanism is fixedly connected to the Y-axis moving component; the Y-axis moving component is used to drive the second camera module to move in the Y-axis direction.
[0018] Implementing one of the above-described technical solutions of this utility model has the following advantages or beneficial effects:
[0019] The visual positioning device provided by this utility model integrates two visual imaging systems, which can simultaneously capture the positioning features of two components. The two camera modules shoot in opposite directions, and their shooting centers are located on the same axis, ensuring that the projections of the shooting centers of the two camera modules on the axis direction are always coincident. Therefore, the positions of the two components can be adjusted. When both camera modules simultaneously capture the positioning features on the two components, it indicates that the two components are aligned. Pressing one component onto the other component along the axis direction completes high-precision assembly. This allows the components to be assembled in their original positions after positioning, resulting in small displacement errors of the moving axis, high positioning accuracy, and suitability for high-precision application scenarios. Attached Figure Description
[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:
[0021] Figure 1 This is a schematic diagram of the overall structure of the visual positioning device for capturing positioning features according to an embodiment of this utility model;
[0022] Figure 2 This is a schematic diagram of the structure of the first camera module and the second camera module according to an embodiment of the present invention;
[0023] Figure 3 This is a schematic diagram of the first optical path structure and the second optical path structure according to an embodiment of the present invention;
[0024] Figure 4 This is a first structural schematic diagram of the dispensing mechanism according to an embodiment of the present utility model;
[0025] Figure 5 This is a schematic diagram of the second structure of the adjustment mechanism according to an embodiment of the present invention;
[0026] In the diagram: 1. First camera module; 11. First optical path structure; 111. First reflected optical path; 112. Second reflected optical path; 113. Third reflected optical path; 114. First reflecting mirror; 115. Second reflecting mirror; 12. First lens; 13. First camera; 14. First light source; 2. Second camera module; 21. Shooting mechanism; 22. Second optical path structure; 221. Fourth reflected optical path; 222. Fifth reflected optical path; 223. Sixth reflected optical path; 224. Third reflecting mirror; 225. Fourth reflecting mirror; 23. Second lens; 231. Autofocus system; 24. Second camera; 25. Second light source; 26. Adjustment mechanism; 261. Y-axis moving part; 262. Y-axis guide rail; 263. Drive motor; 264. Lead screw; 3. Mounting reference plate; 31. Fixing part; 4. First component; 5. Second component; 6. First suction nozzle; 7. Second suction nozzle. Detailed Implementation
[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, various exemplary embodiments described below will be referenced to the accompanying drawings, which form part of the exemplary embodiments, illustrating various exemplary embodiments that may be adopted to implement this utility model. Unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. It should be understood that they are merely examples of processes, methods, and apparatuses consistent with some aspects of this utility model disclosed as detailed in the appended claims, and other embodiments may be used, or structural and functional modifications may be made to the embodiments listed herein without departing from the scope and spirit of this utility model.
[0028] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," etc., indicate the orientation or positional relationship based on the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the referred element must have a specific orientation, or be constructed and operated in a specific orientation. The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. The term "multiple" means two or more. The terms "connected" and "linked" should be interpreted broadly, for example, they can be fixed connections, detachable connections, integral connections, mechanical connections, electrical connections, communication connections, direct connections, indirect connections through an intermediate medium, and can be the internal connection of two elements or the interaction relationship between two elements. The term "and / or" includes any and all combinations of one or more of the related listed items. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0029] To illustrate the technical solution described in this utility model, specific embodiments are described below, showing only the parts related to the embodiments of this utility model.
[0030] Example 1:
[0031] like Figure 1 As shown, this embodiment provides a visual positioning device for capturing positioning features, used to capture and position a first component 4 and a second component 5. The device includes a first camera module 1, a second camera module 2, and a mounting base plate 3. The first camera module 1 and the second camera module 2 are arranged side-by-side on the mounting base plate 3, with their lenses facing the same direction to save space and reduce the size of the visual positioning device. The shooting direction of the first camera module 1 is opposite to that of the second camera module 2. The shooting centers of the first camera module 1 and the second camera module 2 are located on the same axis, allowing them to capture images of two components located on a straight line for precise positioning. The first camera module 1 is used to capture and position the positioning features on the first component 4, and the second camera module 2 is used to capture and position the positioning features on the second component 5. Optionally, the positioning features can be markers used for positioning, such as mark points.
[0032] The visual positioning device provided in this embodiment integrates two visual imaging systems, which can simultaneously capture the positioning features of two components. The two camera modules shoot in opposite directions, with their shooting centers located on the same axis, ensuring that the projections of the shooting centers of the two camera modules onto the axis are always coincident. Therefore, the positions of the two components can be adjusted. When both camera modules simultaneously capture the positioning features on the two components, it indicates that the two components are aligned. Pressing one component onto the other along the axis can then complete high-precision assembly. This allows the components to be assembled in their original positions after positioning, resulting in smaller displacement errors on the moving axis, higher positioning accuracy, and suitability for high-precision applications.
[0033] Below, in conjunction with Figures 1-5 Taking the image capture of two components in a vertical direction as an example, the structure and working principle of the visual positioning device for capturing positioning features provided in this embodiment will be described in detail:
[0034] As an alternative implementation method, such as Figure 5 As shown, the first camera module 1 is fixedly connected to the mounting base plate 3; specifically, the first camera module 1 is fixedly connected to the mounting base plate 3 via a fastener 31. Figure 2 As shown, the first camera module 1 includes a first optical path structure 11, a first lens 12 and a first camera 13; the first camera module 1, the first lens 12 and the first camera 13 are connected in sequence, and the first camera module 1 can capture the positioning features of the first component 4 through the first camera module 1.
[0035] Specifically, such as Figure 3As shown, the first camera module 1 includes a first reflected light path 111, a second reflected light path 112, a third reflected light path 113, a first reflector 114, and a second reflector 115. The first reflected light path 111 and the second reflected light path 112 are arranged perpendicularly in the XY plane. The first reflector 114 is located at the intersection of the first reflected light path 111 and the second reflected light path 112, and the angle between it and the first reflected light path 111 and the second reflected light path 112 is 45°. The second reflected light path 112 and the third reflected light path 113 are arranged perpendicularly in the XZ plane. The second reflector 115 is located at the intersection of the second reflected light path 112 and the third reflected light path 113, and the angle between it and the second reflected light path 112 and the third reflected light path 113 is 45°. In this embodiment, a first camera module 1 is used to photograph the upper surface of the first component 4. The first lens 12 and the first camera 13 are both in the Y-axis direction, as is the first reflected light path 111 in the Y-axis direction. The second reflected light path 112 is in the X-axis direction, and the third reflected light path 113 is in the Z-axis direction. During photography, the lower surface of the first component 4 is imaged onto the second reflector 115 via the third reflected light path 113. The second reflector 115 then reflects the image onto the first reflector 114 via the second reflected light path 112. The first reflector 114 then reflects the image onto the first lens 12 via the first reflected light path 111, thus enabling the first camera 13 to capture the features on the lower surface of the first component 4. Furthermore, the number of reflectors, the number of reflected light paths, and the angle between the reflectors and the reflected light paths used in the first camera module 1 are not specifically limited; it is only necessary to ensure that the first camera module 1 can capture the lower surface of the first component 4.
[0036] As an alternative implementation method, such as Figure 2 As shown, a first light source 14 is provided on the third reflected light path 113. The first light source 14 is used to provide a shooting light source for the surface of the first component 4. By illuminating the lower surface of the first component 4 with the first light source 14, its positioning features are highlighted, which can help the first camera module 1 capture more detailed information, improve image quality, and thus achieve accurate positioning.
[0037] As an alternative implementation, the second camera module 2 is slidably connected to the mounting base plate 3. The position of the second camera module 2 on the mounting base plate 3 is adjustable, including an imaging mechanism 21 and an adjustment mechanism 26 fixedly connected to the imaging mechanism 21; for example... Figure 2As shown, the shooting mechanism 21 includes: a second optical path structure 22, a second lens 23, and a second camera 24; the second optical path structure 22, the second lens 23, and the second camera 24 are connected in sequence; the second optical path structure 22 includes a fourth reflective optical path 221, a fifth reflective optical path 222, a sixth reflective optical path 223, a third reflector 224, and a fourth reflector 225; the fourth reflective optical path 221 and the fifth reflective optical path 222 are arranged perpendicularly in the XY plane, and the third reflector 224 is located at the intersection of the fourth reflective optical path 221 and the fifth reflective optical path 222, with an angle of 45° with the fourth reflective optical path 221 and the fifth reflective optical path 222; the fifth reflective optical path 222 and the sixth reflective optical path 223 are arranged perpendicularly in the XZ plane, and the fourth reflector 225 is located at the intersection of the fifth reflective optical path 222 and the sixth reflective optical path 223, with an angle of 45° with the fifth reflective optical path 222 and the sixth reflective optical path 223. In this embodiment, the second camera module 2 is used to photograph the upper surface of the second component 5. The second lens 23 and the second camera 24 are both in the Y-axis direction. The fourth reflective light path 221 is also in the Y-axis direction, the fifth reflective light path 222 is in the X-axis direction, and the sixth reflective light path 223 is in the Z-axis direction. During the shooting, the upper surface of the second component 5 will be imaged on the fourth reflector 225 through the sixth reflective light path 223. The fourth reflector 225 reflects the image to the third reflector 224 through the fifth reflective light path 222. The third reflector 224 then reflects the image to the second lens 23 through the fourth reflective light path 221, so that the second camera 24 can capture the features on the upper surface of the second component 5. In addition, the number of reflectors, the number of reflected light paths, and the angle between the reflectors and the reflected light paths used in the second optical path structure 22 are not specifically limited. It is only necessary to ensure that the second camera module 2 can capture the lower surface of the first component 4, and that the shooting centers of the second camera module 2 and the first camera module 1 are on the same axis, thereby reducing the displacement error of the component moving axis and improving the accuracy of visual alignment.
[0038] As an alternative implementation method, such as Figure 2As shown, the third reflective light path 113 and the sixth reflective light path 223 are arranged on the same straight line, thereby ensuring that the shooting centers of the first camera module 1 and the second camera module 2 can coincide on a certain plane to achieve precise alignment. In this embodiment, the third reflective light path 113 and the sixth reflective light path 223 are both on the same vertical straight line, but their light path directions are opposite. The directions of the third reflective light path 113 and the sixth reflective light path 223 are not uniquely limited, such as the third reflective light path 113 and the second and sixth reflective light paths being located on the same horizontal straight line. The second reflector 115 and the fourth reflector 225 are stacked. Specifically, the non-reflective surfaces of the second reflector 115 and the fourth reflector 225 are in contact, and their reflective surfaces are opposite to each other. In this embodiment, the non-reflective surfaces of the second reflector 115 and the fourth reflector 225 are in contact, with the reflective surface of the second reflector 115 facing upward at 45° to reflect the lower surface features of the first component 4; the reflective surface of the fourth reflector 225 faces downward at 45° to reflect the upper surface features of the second component 5. The two mirrors are stacked and positioned back to back, which not only ensures that the projected images can coincide in a certain straight line direction, but also saves space and makes them easy to store and transport.
[0039] As an alternative implementation method, such as Figure 1 As shown, a second light source 25 is provided on the sixth reflected light path 223. The second light source 25 is used to provide a light source for imaging the surface of the second component 5. Similarly, by illuminating the upper surface of the second component 5 with the second light source 25, its positioning characteristics are highlighted, which helps the second camera module 2 capture more detailed information, improves image quality, and thus achieves accurate positioning.
[0040] It should be noted that, as Figure 1 As shown, a material-grabbing mechanism is provided on the outside of the device for acquiring parts. Assuming the positioning feature of the first part 4 is located on its lower surface and the positioning feature of the second part 5 is located on its upper surface, the material-grabbing mechanism will use the first suction nozzle 6 to pick up the upper surface of the first part 4 from above, and the second suction nozzle 7 to pick up the lower surface of the second part 5 from below. Both the first and second suction nozzles 6 and 7 are equipped with movable structures that allow them to move in four degrees of freedom: X, Y, Z, and RZ. During shooting, the first suction nozzle 6 moves the first part 4 to a specific position, and the second suction nozzle 7 moves the second part 5 to a specific position, placing the first part 4 above the second part 5. Then, the first camera module 1 and the second camera module 2 of the visual positioning device of this embodiment are extended between the first part 4 and the second part 5 to capture and position these two parts.
[0041] As an alternative implementation, the second lens 23 is equipped with an autofocus system 231 for automatically adjusting the focus; the autofocus range of the autofocus system 231 is 3mm-5mm; since in the actual positioning process, one component is usually kept stationary while another component is adjusted for alignment; in this embodiment, assuming that the second component 5 is kept stationary, the autofocus system 231 is needed to achieve focus when shooting the second component 5 in order to ensure that a clear image is captured.
[0042] As an alternative implementation, the first reflecting mirror 114, the second reflecting mirror 115, the third reflecting mirror 224, and the fourth reflecting mirror 225 are plane mirrors or beam splitters. Plane mirrors and beam splitters have compact structures, enabling the optical functions of the load to be realized in a limited space, and are suitable for integration into small optical systems.
[0043] As an alternative implementation method, such as Figure 4 As shown, the adjustment mechanism 26 includes a Y-axis moving component 261, a Y-axis guide rail 262, a drive motor 263, and a lead screw 264. The Y-axis moving component 261 is movably connected to the Y-axis guide rail 262. The Y-axis guide rail 262 is fixedly connected to the mounting base plate 3. The drive motor 263 is fixedly connected to the mounting base plate 3 and connected to the Y-axis moving component 261 via the lead screw 264, for driving the Y-axis moving component 261 to move in the Y-axis direction. Optionally, the drive motor 263 can be a stepper motor or a servo motor. The shooting mechanism 21 is fixedly connected to the Y-axis moving component 261; the Y-axis moving component 261 is used to drive the second camera module 2 to move in the Y-axis direction. Since the first suction nozzle 6 that grasps the first component 4 can move in four degrees of freedom (X, Y, Z, RZ), the movement of the suction nozzle can compensate for the focusing of the first camera module 1. However, it is usually necessary to keep the second component 5 still. Therefore, an adjustment mechanism 26 is provided on the second camera module 2. The movement of the adjustment mechanism 26 drives the shooting mechanism 21 to compensate for the focusing of the shooting mechanism 21.
[0044] The embodiment is merely a special case and does not indicate that this utility model is implemented in such a way.
[0045] The above description is merely a preferred embodiment of the present utility model. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present utility model. Furthermore, under the teachings of the present utility model, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present utility model. Therefore, the present utility model is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present utility model.
Claims
1. A vision positioning device for taking a positioning feature, characterized in that A first part (4) and a second part (5) are positioned by shooting, comprising a first camera module (1), a second camera module (2) and a mounting reference plate (3); The first camera module (1) and the second camera module (2) are arranged side by side on the mounting reference plate (3), the shooting direction of the first camera module (1) is opposite to the shooting direction of the second camera module (2), the shooting centers of the first camera module (1) and the second camera module (2) are located on the same axis, the first camera module (1) is used for shooting and positioning the positioning features on the first part (4), and the second camera module (2) is used for shooting and positioning the positioning features on the second part (5).
2. The visual positioning device for photographing a positioning feature according to claim 1, characterized in that The first camera module (1) is fixedly connected to the mounting reference plate (3) and comprises a first light path structure (11), a first lens (12) and a first camera (13); the first light path structure (11), the first lens (12) and the first camera (13) are connected in sequence. The first light path structure (11) comprises a first reflection light path (111), a second reflection light path (112), a third reflection light path (113), a first reflector (114) and a second reflector (115); the first reflection light path (111) and the second reflection light path (112) are arranged perpendicularly in an XY plane, the first reflector (114) is arranged at the intersection of the first reflection light path (111) and the second reflection light path (112) and forms an angle of 45° with the first reflection light path (111) and the second reflection light path (112); the second reflection light path (112) and the third reflection light path (113) are arranged perpendicularly in an XZ plane, the second reflector (115) is arranged at the intersection of the second reflection light path (112) and the third reflection light path (113) and forms an angle of 45° with the second reflection light path (112) and the third reflection light path (113).
3. A vision positioning device for photographing positioning features according to claim 2, characterized in that A first light source (14) is arranged on the third reflection light path (113), and the first light source (14) is used for providing a shooting light source for the surface of the first part (4).
4. The visual positioning device of claim 2, wherein, The second camera module (2) is slidably connected to the mounting reference plate (3) and comprises a shooting mechanism (21) and an adjusting mechanism (26) fixedly connected to the shooting mechanism (21); the shooting mechanism (21) comprises a second light path structure (22), a second lens (23) and a second camera (24); the second light path structure (22), the second lens (23) and the second camera (24) are connected in sequence. The second light path structure (22) comprises a fourth reflection light path (221), a fifth reflection light path (222), a sixth reflection light path (223), a third mirror (224) and a fourth mirror (225); the fourth reflection light path (221) and the fifth reflection light path (222) are arranged perpendicularly in an XY plane, the third mirror (224) is arranged at the intersection of the fourth reflection light path (221) and the fifth reflection light path (222), and the included angle between the fourth reflection light path (221) and the fifth reflection light path (222) is 45°; the fifth reflection light path (222) and the sixth reflection light path (223) are arranged perpendicularly in an XZ plane, the fourth mirror (225) is arranged at the intersection of the fifth reflection light path (222) and the sixth reflection light path (223), and the included angle between the fifth reflection light path (222) and the sixth reflection light path (223) is 45°.
5. A vision positioning device for photographing positioning features according to claim 4, characterized in that The third reflection light path (113) and the sixth reflection light path (223) are arranged on the same straight line; the second mirror (115) and the fourth mirror (225) are arranged in layers.
6. The visual positioning device of claim 4, wherein, A second light source (25) is arranged on the sixth reflection light path (223), and the second light source (25) is used to provide a shooting light source for the surface of the second part (5).
7. The visual positioning device of claim 4, wherein, An automatic focusing system (231) is arranged on the second lens (23) and used to automatically adjust the focus; the automatic focusing range of the automatic focusing system (231) is 3mm-5mm.
8. The visual positioning device of claim 4, wherein, The first mirror (114), the second mirror (115), the third mirror (224) and the fourth mirror (225) are plane mirrors or light splitting prisms.
9. The visual positioning device of claim 4, wherein, The adjusting mechanism (26) comprises a Y-axis moving part (261), a Y-axis guide rail (262), a driving motor (263) and a lead screw (264); The Y-axis moving part (261) is movably connected with the Y-axis guide rail (262); the Y-axis guide rail (262) is fixedly connected with the mounting reference plate (3); the driving motor (263) is fixedly connected with the mounting reference plate (3) and connected with the Y-axis moving part (261) through the lead screw (264) and used to drive the Y-axis moving part (261) to move in the Y-axis direction.
10. A vision positioning device for photographing positioning features according to claim 9, characterized in that The shooting mechanism (21) is fixedly connected with the Y-axis moving part (261); the Y-axis moving part (261) is used to drive the second camera module (2) to move in the Y-axis direction.