Visual servo alignment equipment based on machine vision

Abstract

The utility model discloses visual servo alignment equipment based on machine vision. The visual servo alignment equipment comprises a truss assembly. In the clamping process, the clamping pieces can be in contact with the materials, and if the time of the four clamping pieces in contact with the materials is in an obvious sequence, for example, the time interval exceeds one second or other time intervals, it can be judged that the side, making contact with the materials firstly, of the clamping pieces is closer to the materials; the transverse time difference and the longitudinal time difference are compared separately, if the longitudinal time difference is large, adjustment is conducted in the longitudinal direction, if the transverse time difference is large, adjustment is conducted in the transverse direction, and if the transverse time difference and the longitudinal time difference are large, adjustment can be conducted separately. The truss moving assembly can drive the clamping piece to move towards the other side by the distance obtained by multiplying half of the time interval by the moving speed of the clamping piece after an internal control system is combined with a sensor induction difference value for comprehensive measurement and calculation, and the machine vision alignment effect can be better.

Description

Technical Field

[0001] This utility model relates to the field of machine vision technology, and in particular to a vision servo alignment device based on machine vision. Background Technology

[0002] Machine vision systems utilize machines to perform various measurements and judgments, replacing human eyes. It is an important branch of computer science, integrating technologies from optics, mechanics, electronics, and computer hardware and software, involving multiple fields such as computer science, image processing, pattern recognition, artificial intelligence, signal processing, and opto-mechatronics. The rapid development of technologies such as image processing and pattern recognition has greatly promoted the development of machine vision applications.

[0003] In existing technologies, when using machine vision for alignment, there are often some minor deviations. If these are not addressed, they can easily develop into large deviations that affect alignment. However, reverting to the initial position for recalibration when only minor deviations occur wastes time.

[0004] Patent document CN220399289U discloses a vision servo alignment device based on machine vision, including a bracket with a servo driver connected to it. A machine vision system is connected to the servo driver, and a gripper device is connected to the servo driver. The gripper device includes two mounting plates and two clamping plates. Mounting grooves are connected to the side walls of the mounting plates, and sliding blocks are slidably connected in the mounting grooves. Pressure sensors are also disposed in the mounting grooves, and the sliding blocks contact the pressure sensors. An elastic rod is connected to the other side of the sliding blocks. In practical applications, the pressure sensor on the clamping plate side that first touches the item sends a signal to the machine vision system. This allows the machine vision system to determine that the gripper device is closer to the side that first touched the item, and thus automatically adjusts the distance slightly to the other side when picking up or placing items again, thereby improving alignment accuracy.

[0005] As in the prior art of the aforementioned patent, the device can pre-contact the object through sensors on the clamping devices on both sides when grasping the object in the lateral direction, thereby determining the error generated by the vision system. However, most application scenarios are generally grasping in a plane. The vision system needs to make accurate judgments not only on the X-axis but also on the Y-axis. The aforementioned device alone cannot achieve the calibration of the vision system in the longitudinal grasping process. Utility Model Content

[0006] The purpose of this invention is to provide a vision servo alignment device based on machine vision, so as to solve the above-mentioned shortcomings in the prior art.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a vision servo alignment device based on machine vision, comprising a truss assembly, on which a truss moving assembly is provided, the truss moving assembly being capable of planar movement on the truss assembly, a housing being provided below the truss moving assembly, four sliding grooves being provided at the bottom end of the housing, and a moving block being slidably installed inside each of the four sliding grooves, a simultaneous driving assembly being provided between the four moving blocks and the housing, a clamping member being fixedly installed at the bottom end of the four moving blocks, and a sensor assembly being provided on the clamping member, and a machine vision system being fixedly installed at the center of the bottom end of the housing, the machine vision system and the sensor assembly being electrically connected to the truss moving assembly.

[0008] As a further description of the above technical solution: the sensor assembly includes a mounting slot formed on the clamping member, and a light sensor is fixedly installed inside the mounting slot. The light sensor is electrically connected to the truss moving assembly.

[0009] As a further description of the above technical solution: anti-slip pads are provided on the sidewalls of the multiple clamping members near the center of the housing.

[0010] As a further description of the above technical solution: the simultaneous drive assembly includes two first screws and two second screws respectively rotatably mounted on the four inner walls of the housing. The two first screws and the two second screws are arranged opposite to each other. A worm gear is fixedly installed between the two first screws, and a worm is fixedly installed between the two second screws. The worm gear and the worm mesh with each other. A motor is fixedly installed on one side wall of the housing, and the motor is drivenly connected to one of the first screws.

[0011] As a further description of the above technical solution: the truss assembly includes four support columns and two truss longitudinal beams fixedly installed on the top of the support columns. A truss crossbeam is provided between the two truss longitudinal beams. The truss crossbeam can slide longitudinally between the truss longitudinal beams through a truss moving assembly, and the truss moving assembly can move laterally on the truss crossbeam.

[0012] As a further description of the above technical solution: a telescopic cylinder is provided between the truss moving assembly and the housing.

[0013] This invention provides a vision servo alignment device based on machine vision. It offers the following advantages: The housing of this invention moves on the truss assembly via a truss moving assembly, thereby driving the movement of the machine vision system and the grippers. After the machine vision system moves to the appropriate position, the four grippers can grasp the material. During the grasping process, the grippers come into contact with the material. If there is a significant sequence in the contact time between the four grippers and the material, such as a time interval exceeding one second, or other time intervals, it can be determined that the side that contacts the material first is closer to it. The lateral and longitudinal time differences are compared separately. If the longitudinal time difference is large, adjustments are made in the longitudinal direction; if the lateral time difference is large, adjustments are made in the lateral direction; if both lateral and longitudinal time differences are large, adjustments can be made separately. When grasping material again, the truss moving assembly, through its internal control system and sensor differential calculations, moves the grippers to the other side by half the time interval multiplied by the gripper's moving speed. This method improves the alignment effect of the machine vision.

[0014] It should be understood that the foregoing general description and the following detailed description are exemplary and illustrative only, and are not intended to limit this disclosure.

[0015] This application provides an overview of various implementations or examples of the technology described in this disclosure, and is not a full disclosure of the entire scope or all features of the disclosed technology. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall three-dimensional structure of a vision servo alignment device based on machine vision proposed in this utility model.

[0017] Figure 2 This is a three-dimensional structural schematic diagram from another perspective of the present invention;

[0018] Figure 3 This is a three-dimensional cross-sectional structural diagram of the present invention;

[0019] Figure 4 This is a schematic diagram of the main structure of this utility model;

[0020] Figure 5 This is a cross-sectional structural diagram of the clamping component of this utility model, which has a light sensor installed inside.

[0021] Legend:

[0022] 1. Support column; 2. Truss longitudinal beam; 3. Truss crossbeam; 4. Truss moving assembly; 5. Telescopic cylinder; 6. Housing; 7. Slide groove; 8. First screw; 9. Worm gear; 10. Worm; 11. Second screw; 12. Moving block; 13. Machine vision system; 14. Clamping component; 15. Mounting slot; 16. Light sensor; 17. Anti-slip pad. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0024] Reference Figure 1-5 A vision servo alignment device based on machine vision includes a truss assembly. A truss moving assembly 4 is mounted on the truss assembly, enabling planar movement on the truss assembly. A housing 6 is located below the truss moving assembly 4. Four sliding grooves 7 are formed at the bottom of the housing 6, and each of the four sliding grooves 7 has a sliding block 12 slidably mounted inside. A simultaneous driving assembly is provided between the four sliding blocks 12 and the housing 6. Clamping members 14 are fixedly mounted at the bottom of the four sliding blocks 12, and sensor assemblies are mounted on the clamping members 14. A machine vision system 13 is fixedly mounted at the center of the bottom of the housing 6. The machine vision system 13 and the sensor assemblies are electrically connected to the truss moving assembly 4. The housing 6 moves on the truss assembly via the truss moving assembly 4, thereby driving the movement of the machine vision system 13 and the clamping members 14. After the gantry moving assembly 4 moves to the appropriate position, it can grip the material using four grippers 14. During the gripping process, the grippers 14 will come into contact with the material. If there is a clear sequence in the time of contact between the four grippers 14 and the material, such as a time interval of more than one second or other time intervals, it can be determined that the side that comes into contact with the material first is closer to the material. The lateral time difference and the longitudinal time difference are compared separately. If the longitudinal time difference is large, the adjustment is made in the longitudinal direction. If the lateral time difference is large, the adjustment is made in the lateral direction. If both the lateral and longitudinal time differences are large, they can be adjusted separately. When gripping the material again, the gantry moving assembly 4 can use the internal control system combined with the sensor sensing difference to calculate and drive the grippers 14 to move to the other side by half the time interval multiplied by the moving speed of the grippers 14. In this way, the alignment effect of the machine vision can be improved.

[0025] As a preferred embodiment, the sensor assembly includes a mounting groove 15 formed on the clamping member 14. A light sensor 16 is fixedly installed inside the mounting groove 15. The light sensor 16 is electrically connected to the truss moving assembly 4. When the clamping member 14 contacts an object, the object can block the mounting groove 15, thereby causing the light sensor 16 to respond. Compared with the pressure sensor, the light sensor 16 is set in the mounting groove 15, and its response effect is better. The light sensor 16 is a prior art technology. Its function is to respond and send a signal to the outside when the light intensity drops to a certain threshold.

[0026] As a preferred technical solution in this embodiment, anti-slip pads 17 are provided on the sidewalls of the plurality of clamping members 14 near the center of the housing 6; the anti-slip pads 17 can increase the friction between the clamping member 14 and the object, making the clamping member 14 more stable when clamping the object.

[0027] As a preferred embodiment, the simultaneous driving assembly includes two first screws 8 and two second screws 11 rotatably mounted on the four inner walls of the housing 6. The two first screws 8 and the two second screws 11 are arranged opposite to each other. A worm gear 9 is fixedly installed between the two first screws 8, and a worm 10 is fixedly installed between the two second screws 11. The worm gear 9 and the worm 10 mesh with each other. A motor is fixedly installed on one side wall of the housing 6, and the motor is connected to one of the first screws 8 in a transmission connection. The motor can drive the two first screws 8 to rotate, and at the same time, it can drive the worm gear 9 between the first screws 8 to rotate. The rotation of the worm gear 9 can drive the rotation of the worm 10, and the rotation of the worm 10 can further drive the two second screws 11 to rotate, thereby realizing that the four screws rotate simultaneously, so that the four moving blocks 12 can clamp towards the middle at the same time.

[0028] As a preferred technical solution of this embodiment, the truss assembly includes four support columns 1 and two truss longitudinal beams 2 fixedly installed on the top of the support columns 1. A truss crossbeam 3 is provided between the two truss longitudinal beams 2. The truss crossbeam 3 can slide longitudinally between the truss longitudinal beams 2 through a truss moving assembly 4. The truss moving assembly 4 can move laterally on the truss crossbeam 3. The truss moving assembly 4 is prior art. It can control its own movement on the crossbeam through an internal control system, and can also control the movement of the truss crossbeam 3 on the two longitudinal beams, thereby realizing arbitrary movement in the plane.

[0029] As a preferred technical solution in this embodiment, a telescopic cylinder 5 is provided between the truss moving assembly 4 and the housing 6; the telescopic cylinder 5 can drive the housing 6 to rise and fall, so that the clamping member 14 can be moved to a suitable height to clamp the object.

[0030] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A machine vision based visual servoing alignment apparatus comprising a gantry assembly having a gantry movement assembly (4) disposed thereon, the gantry movement assembly (4) being capable of planar movement on the gantry assembly, characterised in that, A housing (6) is provided below the truss moving assembly (4). Four sliding grooves (7) are provided at the bottom of the housing (6). Moving blocks (12) are slidably installed inside each of the four sliding grooves (7). A simultaneous driving component is provided between the four moving blocks (12) and the housing (6). A clamping component (14) is fixedly installed at the bottom of the four moving blocks (12). A sensor component is provided on the clamping component (14). A machine vision system (13) is fixedly installed at the center of the bottom of the housing (6). The machine vision system (13) and the sensor component are electrically connected to the truss moving assembly (4).

2. The machine vision-based visual servoing alignment apparatus of claim 1, wherein, The sensor assembly includes a mounting slot (15) formed on the clamp (14), and a light sensor (16) is fixedly installed inside the mounting slot (15). The light sensor (16) is electrically connected to the truss moving assembly (4).

3. The machine vision-based visual servoing alignment apparatus of claim 1, wherein, Anti-slip pads (17) are provided on the sidewalls of the multiple clamping members (14) near the center of the housing (6).

4. The machine vision-based visual servoing alignment apparatus of claim 1, wherein, The simultaneous drive assembly includes two first screws (8) and two second screws (11) respectively rotatably mounted on the four inner walls of the housing (6). The two first screws (8) and the two second screws (11) are arranged opposite to each other. A worm gear (9) is fixedly installed between the two first screws (8), and a worm (10) is fixedly installed between the two second screws (11). The worm gear (9) and the worm (10) mesh with each other. A motor is fixedly installed on one side wall of the housing (6), and the motor is connected to one of the first screws (8) in a transmission connection.

5. The machine vision-based visual servoing alignment apparatus of claim 1, wherein, The truss assembly includes four support columns (1) and two truss longitudinal beams (2) fixedly installed on the top of the support columns (1). A truss crossbeam (3) is provided between the two truss longitudinal beams (2). The truss crossbeam (3) can slide longitudinally between the truss longitudinal beams (2) through a truss moving assembly (4). The truss moving assembly (4) can move laterally on the truss crossbeam (3).

6. The machine vision-based visual servoing alignment apparatus of claim 1, wherein, A telescopic cylinder (5) is provided between the truss moving assembly (4) and the housing (6).

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