Robot visual identification auxiliary device

Abstract

The utility model belongs to the field of computer vision, particularly relates to a robot visual identification auxiliary device, and provides the following scheme for solving the existing problems: the robot visual identification auxiliary device comprises a visual base for assisting robot visual identification, the top of the visual base is provided with a rotating base in a sliding manner, and the top of the rotating base is provided with a mechanical arm in a rotating manner; and an overturning base is rotationally installed on one side of the mechanical arm, an adjusting shell is fixedly installed on one side of the overturning base, an adjusting mechanism is arranged on one side of the adjusting shell, and a visual camera is arranged on one side of the adjusting mechanism. According to the utility model, the visual camera can be controlled to rotate in multiple dimensions such as horizontal, vertical, pitching and the like, a blind area which cannot be touched by a traditional fixed lens is covered, the comprehensiveness of scene perception is improved, a target is kept in the center of a picture all the time, and the requirement of dynamic tracking is met.

Description

Technical Field

[0001] This utility model relates to the field of computer vision technology, and in particular to a robot vision recognition auxiliary device. Background Technology

[0002] Computer vision is an interdisciplinary field that studies how to enable machines to "understand" the world. It involves acquiring image or video data through devices such as cameras and using algorithms (such as image processing and deep learning) to simulate human visual functions, achieving tasks such as target detection, recognition, tracking, semantic understanding, and 3D reconstruction. Its core is the transformation of visual signals into structured information. It has wide applications in fields such as security, healthcare, autonomous driving, and industrial inspection, and is an important component of artificial intelligence technology.

[0003] Currently, robots are mostly provided with vision through robotic arms and cameras. The robotic arm is used to adjust the camera. When the camera observes dynamic objects within a certain range, it needs to be adjusted by the robotic arm. Therefore, the camera sometimes cannot follow the movement of the object in time and cannot keep the target in the center of the frame, which is a defect.

[0004] Therefore, we propose a robot vision recognition aid to solve the above problems. Utility Model Content

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A robot vision recognition assistive device includes a vision base for assisting robot vision recognition. A rotating base is slidably mounted on the top of the vision base, and a robotic arm is rotatably mounted on the top of the rotating base. A flip base is rotatably mounted on one side of the robotic arm, and an adjustment housing is fixedly mounted on one side of the flip base. An adjustment mechanism is provided on one side of the adjustment housing, and a vision camera is provided on one side of the adjustment mechanism.

[0007] Specifically, the top of the visual base is provided with a displacement groove, a ball screw is rotatably installed on one inner wall of the displacement groove, a slider is slidably installed on the inner side of the displacement groove, the slider is threaded onto the ball screw, and the top of the slider is fixedly connected to the rotating base.

[0008] Specifically, the vision base has a displacement chamber inside, and a displacement servo motor is fixedly installed inside the displacement chamber. The output shaft of the displacement servo motor is fixedly connected to a ball screw, so that the displacement servo motor can drive the ball screw to rotate.

[0009] Specifically, the rotating base has a rotating groove inside, and a rotating servo motor is fixedly installed on the inner side of the rotating groove. The output shaft of the rotating servo motor is fixedly connected to the robotic arm, and the robotic arm can be driven to rotate by the rotating servo motor.

[0010] Specifically, the robotic arm has a tilting groove inside, and a tilting servo motor is fixedly installed on the inner side of the tilting groove. The output shaft of the tilting servo motor is fixedly connected to the tilting base, so that the tilting base can be rotated by the tilting servo motor.

[0011] Specifically, the adjustment mechanism includes a longitudinal shaft, a longitudinal crank, a transverse shaft, a transverse crank, and a ball joint. The adjustment housing is L-shaped. The longitudinal shaft and the transverse shaft are rotatably mounted on the inner walls of both sides of the adjustment housing, respectively. The longitudinal shaft and the transverse shaft are respectively fixedly sleeved on the longitudinal shaft and the transverse shaft. A ball joint is rotatably passed through one side of the transverse crank, and one end of the ball joint is fixedly connected to the visual camera.

[0012] Specifically, the regulating housing has two drive chambers inside. Worm gears are rotatably mounted on one inner wall of each drive chamber. The longitudinal and transverse shafts extend into their respective drive chambers. The two worm gears are fixedly sleeved on the longitudinal and transverse shafts, respectively. Worms are rotatably mounted on the bottom inner walls of each drive chamber, and the two worms mesh with their corresponding worm gears. A drive servo motor is fixedly mounted on the top inner wall of each drive chamber. The output shafts of the two drive servo motors are fixedly connected to their respective worms, allowing the drive servo motors to drive the worms to rotate.

[0013] Specifically, a linkage shaft is rotatably passed through one side of the longitudinal crank, and a linkage metal block is fixedly installed at one end of the linkage shaft. A linkage groove is opened on the ball end of the ball joint, and the linkage metal block is slidably installed inside the linkage groove, so as to drive the ball joint to rotate through the linkage shaft.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: through the set adjustment mechanism, the camera can be controlled to rotate in multiple dimensions such as horizontal, vertical, and tilt, covering blind spots that traditional fixed lenses cannot reach, improving the comprehensiveness of scene perception, and keeping the target always in the center of the image to meet the needs of dynamic tracking. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of a robot vision recognition auxiliary device proposed in this utility model;

[0016] Figure 2 This is a three-dimensional structural breakdown diagram of a robot vision recognition auxiliary device proposed in this utility model;

[0017] Figure 3 This is a three-dimensional cross-sectional view of the base of a robot vision recognition auxiliary device proposed in this utility model.

[0018] Figure 4 This is a three-dimensional structural diagram of the adjustment mechanism of a robot vision recognition auxiliary device proposed in this utility model;

[0019] Figure 5 This is a three-dimensional structural disassembly diagram of the adjustment mechanism of a robot vision recognition auxiliary device proposed in this utility model.

[0020] In the diagram: 1. Vision base; 2. Displacement servo motor; 3. Ball screw; 4. Slider; 5. Rotating base; 6. Rotation servo motor; 7. Robotic arm; 8. Tilting servo motor; 9. Tilting base; 10. Adjustment housing; 11. Worm gear; 12. Worm; 13. Drive servo motor; 14. Longitudinal axis; 15. Longitudinal crank; 16. Linkage axis; 17. Linkage metal block; 18. Lateral axis; 19. Lateral crank; 20. Ball joint; 21. Vision camera. Detailed Implementation

[0021] Reference Figure 1-5 A robot vision recognition assist device includes a vision base 1 for assisting robot vision recognition. A rotating base 5 is slidably mounted on the top of the vision base 1, and a robotic arm 7 is rotatably mounted on the top of the rotating base 5. A flip base 9 is rotatably mounted on one side of the robotic arm 7, and an adjustment housing 10 is fixedly mounted on one side of the flip base 9. An adjustment mechanism is provided on one side of the adjustment housing 10, and a vision camera 21 is provided on one side of the adjustment mechanism.

[0022] In this embodiment, a displacement groove is provided on the top of the vision base 1, a ball screw 3 is rotatably installed on the inner wall of one side of the displacement groove, a slider 4 is slidably installed on the inner side of the displacement groove, the slider 4 is threaded onto the ball screw 3, and the top of the slider 4 is fixedly connected to the rotating base 5.

[0023] In this embodiment, a displacement chamber is provided inside the vision base 1, and a displacement servo motor 2 is fixedly installed on the inner side of the displacement chamber. The output shaft of the displacement servo motor 2 is fixedly connected to the ball screw 3, so that the displacement servo motor 2 can drive the ball screw 3 to rotate.

[0024] In this embodiment, a rotating groove is provided inside the rotating base 5, and a rotating servo motor 6 is fixedly installed on the inner side of the rotating groove. The output shaft of the rotating servo motor 6 is fixedly connected to the robotic arm 7, and the robotic arm 7 can be driven to rotate by the rotating servo motor 6.

[0025] In this embodiment, the robotic arm 7 has a flipping groove inside, and a flipping servo motor 8 is fixedly installed on the inner side of the flipping groove. The output shaft of the flipping servo motor 8 is fixedly connected to the flipping base 9, so that the flipping base 9 can be rotated by the flipping servo motor 8.

[0026] In this embodiment, the adjustment mechanism includes a longitudinal shaft 14, a longitudinal crank 15, a transverse shaft 18, a transverse crank 19, and a ball joint 20. The adjustment housing 10 is L-shaped. The longitudinal shaft 14 and the transverse shaft 18 are rotatably mounted on the inner walls of both sides of the adjustment housing 10. The longitudinal crank 15 and the transverse crank 19 are fixedly sleeved on the longitudinal shaft 14 and the transverse shaft 18, respectively. The ball joint 20 is rotatably passed through one side of the transverse crank 19. One end of the ball joint 20 is fixedly connected to the visual camera 21.

[0027] In this embodiment, the interior of the regulating housing 10 has two drive chambers. A worm gear 11 is rotatably mounted on one inner wall of each drive chamber. The longitudinal shaft 14 and the transverse shaft 18 extend into the corresponding drive chambers. The two worm gears 11 are respectively fixedly sleeved on the longitudinal shaft 14 and the transverse shaft 18. A worm 12 is rotatably mounted on the bottom inner wall of each drive chamber. The two worms 12 mesh with the corresponding worm gears 11. A drive servo motor 13 is fixedly mounted on the top inner wall of each drive chamber. The output shafts of the two drive servo motors 13 are respectively fixedly connected to the corresponding worms 12, and the worms 12 can be rotated by the drive servo motors 13.

[0028] In this embodiment, a linkage shaft 16 is rotatably passed through one side of the longitudinal crank 15. A linkage metal block 17 is fixedly installed at one end of the linkage shaft 16. A linkage groove is opened on the ball end of the ball joint 20. The linkage metal block 17 is slidably installed inside the linkage groove, so as to drive the ball joint 20 to rotate through the linkage shaft 16.

[0029] Working Principle: When observing an object, the operator starts the equipment. The displacement servo motor 2 starts, driving the ball screw 3 to rotate. The rotation of the ball screw 3 drives the slider 4 to move, which in turn drives the rotating base 5 connected to the robotic arm 7 to move, causing the vision camera 21 to move closer to or further away from the object. The height and position of the vision camera 21 can be adjusted through the robotic arm 7. The rotation servo motor 6 starts, driving the robotic arm 7 to rotate around the output shaft of the rotation servo motor 6, thereby controlling the orientation of the vision camera 21. The tilt servo motor 8 starts, driving the tilt base 9 to rotate, adjusting the tilt angle of the vision camera 21. When the observed object moves within a small range, the two drive servo motors 13 start, driving the corresponding worm gears 12 to rotate, thereby... The corresponding worm gear 11 is driven to rotate. The rotation of the two worm gears 11 drives the longitudinal shaft 14 and the transverse shaft 18 to rotate respectively. The rotation of the longitudinal shaft 14 and the transverse shaft 18 drives the longitudinal crank 15 and the transverse crank 19 to rotate respectively. The rotation of the transverse crank 19 drives the ball joint 20 to rotate around the transverse shaft 18 as the center. The rotation of the longitudinal crank 15 drives the linkage shaft 16 and the linkage metal block 17 to move. The ball joint 20 has a linkage groove on its ball end. The linkage metal block 17 is slidably installed inside the linkage groove. Therefore, the movement of the linkage metal block 17 can drive the ball end of the ball joint 20 to rotate around the longitudinal shaft 14. This can control the visual camera 21 to rotate in multiple dimensions such as horizontal, vertical, and pitch, so as to follow the moving object in real time and keep the target always in the center of the image.

[0030] The technological advancements achieved by this invention compared to existing technologies are: it can control the visual camera 21 to rotate in multiple dimensions such as horizontal, vertical, and pitch, covering blind spots that traditional fixed lenses cannot reach, improving the comprehensiveness of scene perception, and keeping the target always in the center of the image to meet the needs of dynamic tracking.

Claims

1. A robot vision recognition auxiliary device, characterized in that, Includes a vision base (1) for assisting robot vision recognition, a rotating base (5) is slidably mounted on the top of the vision base (1), and a robotic arm (7) is rotatably mounted on the top of the rotating base (5). A flip base (9) is rotatably mounted on one side of the robotic arm (7). An adjustment housing (10) is fixedly mounted on one side of the flip base (9). An adjustment mechanism is provided on one side of the adjustment housing (10). A vision camera (21) is provided on one side of the adjustment mechanism. The adjustment mechanism includes a longitudinal shaft (14), a longitudinal crank (15), a transverse shaft (18), a transverse crank (19), and a ball joint (20). The adjustment housing (10) is L-shaped. The longitudinal shaft (14) and the transverse shaft (18) are rotatably mounted on the inner walls of both sides of the adjustment housing (10). The longitudinal crank (15) and the transverse crank (19) are fixedly sleeved on the longitudinal shaft (14) and the transverse shaft (18), respectively. A ball joint (20) rotatably passes through one side of the transverse crank (19). One end of the ball joint (20) is fixedly connected to the vision camera (21).

2. The robot vision recognition auxiliary device according to claim 1, characterized in that, The top of the visual base (1) is provided with a displacement groove, a ball screw (3) is rotatably installed on one side of the inner wall of the displacement groove, a slider (4) is slidably installed on the inner side of the displacement groove, the slider (4) is threaded on the ball screw (3), and the top of the slider (4) is fixedly connected to the rotating base (5).

3. The robot vision recognition auxiliary device according to claim 2, characterized in that, The visual base (1) has a displacement chamber inside, and a displacement servo motor (2) is fixedly installed on the inner side of the displacement chamber. The output shaft of the displacement servo motor (2) is fixedly connected to the ball screw (3).

4. The robot vision recognition auxiliary device according to claim 1, characterized in that, The rotating base (5) has a rotating groove inside, and a rotating servo motor (6) is fixedly installed on the inner side of the rotating groove. The output shaft of the rotating servo motor (6) is fixedly connected to the robotic arm (7).

5. The robot vision recognition auxiliary device according to claim 1, characterized in that, The robotic arm (7) has a flipping groove inside, and a flipping servo motor (8) is fixedly installed on the inner side of the flipping groove. The output shaft of the flipping servo motor (8) is fixedly connected to the flipping base (9).

6. The robot vision recognition auxiliary device according to claim 1, characterized in that, The regulating housing (10) has two drive chambers inside. A worm gear (11) is rotatably installed on one side of the inner wall of each drive chamber. The longitudinal shaft (14) and the transverse shaft (18) extend into the corresponding drive chambers. The two worm gears (11) are fixedly sleeved on the longitudinal shaft (14) and the transverse shaft (18) respectively. A worm (12) is rotatably installed on the bottom inner wall of each drive chamber. The two worms (12) mesh with the corresponding worm gears (11) respectively. A drive servo motor (13) is fixedly installed on the top inner wall of each drive chamber. The output shafts of the two drive servo motors (13) are fixedly connected to the corresponding worms (12) respectively.

7. The robot vision recognition auxiliary device according to claim 6, characterized in that, The longitudinal crank (15) has a linkage shaft (16) that rotates through one side. A linkage metal block (17) is fixedly installed at one end of the linkage shaft (16). A linkage groove is provided on the ball end of the ball head rod (20). The linkage metal block (17) is slidably installed inside the linkage groove.

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