384 results about "3d camera" patented technology

The invention discloses an assemblage multi-robot collaborative welding system in ship sections, and relates to the technical field of industrial robot collaborative control, the assemblage multi-robot collaborative welding system comprises an industrial internet platform, the industrial internet platform is in communication connection with the following modules: a visual inspection modeling module, which is used for scanning the surface of a workpiece through a 3D camera, constructing a point cloud model, and establishing a point cloud model; matching the point cloud model with a design drawing, and identifying a deviation between an actual workpiece and the drawing; and the path planning and correcting module is used for planning a collision-free welding path in combination with the visual detection data and the motion range of the robot. Through high-precision visual inspection scanning and an SLAM matching algorithm, a workpiece point cloud model is constructed in real time and is accurately aligned with a design drawing, the welding seam position and the workpiece geometric deviation can be accurately recognized, a collision-free welding path is generated in combination with robot kinematics constraint and a safety boundary, it is ensured that the pose of the tail end of a welding gun is attached to the surface of the workpiece, and the welding quality is improved. Welding deviation is reduced, and process stability is ensured.

The invention relates to the technical field of industrial vehicle intelligence, in particular to an intelligent flexible forklift system based on multi-mode sensing and self-adaptive path planning. The intelligent forklift comprises an intelligent forklift body, a vehicle-mounted integrated control system, a multi-mode sensing and navigation module, a self-adaptive decision-making and path planning module, a cooperative communication and task management module and a cloud scheduling and management platform, and the intelligent forklift body is provided with a pallet fork mechanism with a 3D camera and a force sensor; the vehicle-mounted integrated control system serves as a core to achieve multi-module data interaction and instruction output, the multi-mode sensing and navigation module generates an environment situation map through multi-source data fusion, the self-adaptive decision-making and path planning module completes path planning, obstacle avoidance and pre-verification, the cooperative communication and task management module achieves multi-vehicle cooperation and task disassembly, and the multi-mode sensing and navigation module generates an environment situation map through multi-source data fusion. And the cloud scheduling and management platform realizes global monitoring and management. According to the method, the adaptability to complex scenes and the operation safety are improved, and accurate forking and flexible path planning are realized.

A ship sub-assembly weld seam identification method, comprising: creating a point cloud weld seam identification training dataset by means of point cloud discretization, virtual sampling, weld-zone semi-automatic interactive annotation, and style transfer-based augmentation of ship sub-assembly CAD data; training a point cloud weld seam identification model, and exporting a weld seam identification model data file; using a 3D point cloud camera array as a sampling camera to collect workpiece 3D point cloud data of a sub-assembly workpiece to be welded at the production site; by means of the weld seam identification model data file, obtaining weld seam annotation position data and positioning a weld seam; and issuing a welding process plan and instruction to control a welding robotic arm and a control device therefor to complete sub-assembly workpiece welding. Also provided are a ship sub-assembly weld seam identification system, a computer device, and a computer-readable storage medium. The method overcomes the shortcomings in conventional 3D weld seam identification methods such as point cloud incompleteness and identification failures caused by steel types and the imaging angles of 3D cameras, thereby greatly improving the adaptability of automatic weld seam identification methods to complex workpieces.

The invention discloses a large-size complex surface type high-speed scanning measurement device based on a white light interference technology and a method thereof, and relates to the technical field of crossing of optical precision measurement and machine vision, and the device comprises an intelligent measurement module which integrates a large-view-field vision camera, a 3D camera and a white light interferometer, the large-view-field vision camera is used for acquiring a global two-dimensional image of a measured object and automatically identifying features to trigger a measurement program, and the 3D camera is used for acquiring three-dimensional point cloud data of the measured object; according to the invention, the intelligent measurement module integrates multiple devices, a large-view-field camera triggering program, point cloud acquisition by the 3D camera and high-precision measurement by the white light interferometer, so that multi-source data collaboration is realized. The dynamic scanning optimization module adjusts step lengths and grid priorities according to curvature regions, improves an algorithm to generate a path, improves scanning efficiency and pertinence, achieves combination of global and local measurement through cooperation of multiple devices, meets the multi-precision requirements of complex surface types, improves measurement efficiency, and guarantees the precision of key regions.

The invention relates to a railway track abrasion detection method and system, and aims to realize accurate and efficient detection of turnout sharp point rail abrasion. A detection device carrying a 3D camera, a speed sensor, a signal processing module and a data processing terminal is arranged in a turnout area to be detected, parameter configuration is completed, in the constant-speed moving process, the speed sensor generates a trigger signal according to the specified distance, the 3D camera is driven to synchronously collect point cloud data of the two-dimensional contour of the cross section of the sharp point rail, and a three-dimensional data stream is formed; after data are denoised, section registration splicing and three-dimensional model reconstruction are completed in combination with distance stamps, an actual measurement model and a standard contour model are superposed and compared, abrasion parameters are calculated, and the maximum abrasion point and position are recognized; and finally presenting the abrasion data in the forms of a color cloud picture, a table and the like, and automatically generating a standard detection report containing the contents of line information, defect types and the like. According to the method, automation and visualization of abrasion detection are achieved, the detection precision is high, the efficiency is high, and reliable data support is provided for track maintenance.

The invention belongs to the technical field of unmanned aerial vehicle battery replacement, and provides an unmanned aerial vehicle automatic battery replacement method and system based on 3D visual guidance, and the method comprises the steps: constructing a target feature template of each region of a battery compartment and a feed battery based on obtained standard image data; performing multi-stage pyramid matching on the obtained to-be-matched point cloud data and the constructed target feature template, and reconstructing a point cloud data set and standard image data subjected to multi-stage pyramid matching; calculating the pose deviation value of the feed battery, and combining the pose deviation value of the feed battery to obtain the actual position of the feed battery; the target position and posture information are updated according to the feed battery posture deviation value, a mechanical arm is controlled to move to the target position according to the updated posture information, and the feed battery is grabbed and placed at the designated position; and controlling the mechanical arm to grab the fully-stored battery and then return to the specified image data acquisition position, controlling the 3D camera to carry out secondary scanning, repeating the steps, and putting the fully-stored battery into the battery compartment of the unmanned aerial vehicle to complete automatic battery replacement operation.

The invention discloses a method and a system for generating a long video with a controllable camera track based on a video diffusion model. Comprising a camera track and initial frame preparation stage, a point cloud construction and multi-view image generation stage, a scale factor alignment optimization stage, a camera motion prior injection and noise initialization stage, a diffusion inversion generation stage and a sliding window time consistency fusion stage. Three-dimensional camera track modeling, projection reconstruction and diffusion processes are combined, a video content generation process is explicitly guided to be aligned with a track path set by a user, and long video generation which is reasonable in structure, natural in vision and continuous in time is achieved.

The invention discloses a track non-contact intelligent detection system and method based on multi-source data fusion, relates to the technical field of track detection, and aims at efficiently completing track detection with low cost. The system comprises a frame body, a plurality of line structured light 3D cameras, a synchronous controller, a processing computer and a speedometer; the linear structured light 3D cameras are arranged on the two sides of the frame body, and the optical axes of the linear structured light 3D cameras are arranged to be perpendicular to the axis direction of the steel rail to be measured; the synchronous controller, the processing computer and the speedometer are integrated at the bottom of the frame body, and the synchronous controller and the speedometer are respectively connected with the structured light 3D camera through cables.

The invention relates to the technical field of automation, in particular to a real-time multi-target visual positioning and mechanical arm cooperation system for intelligent material sorting, which comprises a visual perception and information acquisition module, a data processing and path planning module, a mechanical arm execution module and a man-machine interaction module. By combining the 2D camera and the 3D camera, 360-degree full-view-angle material sensing can be achieved, and the possibility of repeated grabbing errors of the mechanical arm can be reduced through the design of judging whether grabbing succeeds or not after the mechanical arm is controlled to execute the grabbing step every time.

The invention particularly discloses a fractured rock mass grouting three-dimensional visualization test device and method, and relates to the technical field of rock mass engineering. The device comprises a test box body, a liquid inlet and outlet system, a monitoring system and a dynamic water environment simulation assembly, the test box body is made of a transparent acrylic material and is composed of an upper cover plate, a lower cover plate, a front cover plate, a rear cover plate, a baffle and two side cover plates, and a core experiment module is arranged in the test box body; the liquid inlet and outlet system is sequentially connected with the liquid holding device, the peristaltic pump, the valve, the Doppler flow velocity sensor and the test box body through rubber pipes; the monitoring system integrates an image collection unit and a data monitoring unit, an industrial-grade 3D camera and a binocular camera achieve visualization of the displacement process, and a fiber bragg grating pressure sensor synchronously collects fracture pressure data and transmits the fracture pressure data to a computer through a multifunctional data collection module. The device can be used for observing the displacement process of the slurry in the three-dimensional fracture in real time, synchronously monitoring key parameters, adapting to complex test working conditions and providing reliable support for grouting law research.

The invention discloses an intelligent ward patrol robot, and relates to the technical field of intelligent medical robots, the intelligent ward patrol robot comprises a robot body, and the robot body is internally provided with a multi-mode sensing unit, an edge calculation unit, a federal learning unit and a decision execution unit. According to the multi-mode sensing unit, a polarization type 3D camera, a 60 GHz millimeter wave radar and an environment sensor array are integrated in a robot body. By installing the multi-mode sensing unit, the non-contact emotion recognition function is achieved, in combination with contact detection of the intelligent bracelet on the signs of the patient, the bottleneck of non-contact emotion and sign cooperative monitoring is broken through, the emotion sensing ability of the patient is improved, and the medical service quality is improved.

The utility model discloses dimension visual detection equipment based on a 3D camera, and relates to the technical field of detection equipment. The device comprises transportation assemblies, the top of each transportation assembly is provided with a detection assembly, a clamping assembly and an overturning assembly are arranged between the two transportation assemblies, the bottom of each transportation assembly is provided with a lifting assembly, and the lifting end of each lifting assembly is connected with the corresponding clamping assembly. The clamping assembly is jacked through the lifting assembly, so that the clamping end of the clamping assembly can be adjusted according to the height of the automobile parts, and when the overturning assembly drives the automobile parts with different heights to overturn through the clamping assembly, the clamping end of the clamping assembly can be adjusted when the clamping assembly rotates to a preset position. And the automobile parts are also in direct contact with the conveying end of the conveying assembly, so that the automobile parts are prevented from being extruded by the clamping assembly and the conveying assembly, and meanwhile, the automobile parts are prevented from being damaged due to extrusion.

Improved methods and a system for feeding containers and caps into a filling line and a capping line are provided. A 3D vision inspection system identifies a container located proximal to a top of a heap within a containers bin. A first set of robotic arms picks the identified container, places it onto a conveyor input in an upright orientation with the open end of the container facing upwards. The container is then transferred into a conveyor or accumulation table for transport to a filling station. Similarly, a third 3D camera identifies caps within a caps bin. A second set of robotic arms picks the identified caps, places them onto an alignment station, and orients them for placement into the capping line. The system incorporates Artificial Intelligence (AI)-based computer vision models for object identification and orientation, enhancing the reliability and efficiency of automated bottling and capping operations.

The invention discloses a region segmentation and spraying track planning method and system of a mobile composite spraying robot and a storage medium, and belongs to the technical field of industrial robots. The method comprises the steps that a workpiece point cloud is obtained through a three-dimensional camera and preprocessed; extracting a central region based on statistical characteristics, and segmenting the point cloud into plane and curved surface sub-regions by adopting an improved RANSAC algorithm; generating a grating path for the plane area, and generating a path for the curved surface area through Poisson reconstruction, adaptive slicing and two-dimensional projection planning; uniformly controlling the attitude of the spray gun and the normal included angle, and sectionally setting the slice spacing according to the curvature radius; and finally, multi-station spraying is completed through cooperation of the AGV moving platform. According to the full-automatic spraying device, the dependence of traditional spraying on a CAD model is overcome, the technical problems that large workpieces are difficult to cover and the uniformity of curved surface spraying is poor are solved, and high-quality and full-automatic spraying of large complex components is achieved.

The invention relates to the technical field of nursing robot control, in particular to a control method and system of a nursing robot. The method comprises the following steps that a 3D camera is used for collecting a posture track when a patient gets up, muscle tension change signals associated with the posture track are obtained through an electromyographic signal sensor, and posture associated muscle tension data are obtained through synchronous association processing. Thirdly, the data are analyzed, the muscle group force line unbalance strength is evaluated, and the gravity center shift trend is obtained in combination with gravity center shift regression analysis; finally, robot auxiliary output parameters are generated based on the gravity center shift regression trend and input into a nursing robot control framework, a control scheme suitable for the nursing robot is designed, a control instruction is sent to a robot terminal, and corresponding nursing operation is executed. According to the invention, the control technology of the nursing robot is optimized, so that the control technology of the nursing robot is more perfect.

The invention relates to the technical field of medical equipment, in particular to a guiding method based on a 3D camera and a CT image and a puncture surgery robot system.The method comprises the steps that S1, preoperative CT three-dimensional reconstruction and point cloud extraction are conducted, and a CT point cloud coordinate system is obtained; s2, carrying out hand-eye calibration on the mechanical arm and the 3D camera; s3, converting a CT point cloud coordinate system into a robot reference coordinate system through registration of the CT point cloud and the camera point cloud; and S4, puncture guiding is carried out through the robot reference coordinate system, based on the multi-view point cloud reconstruction technology, the position and posture relation between the mechanical arms and the 3D camera can be dynamically calibrated without a special calibration device, and the problems that a traditional method depends on a high-precision tool and is complex in operation are solved.

The utility model discloses a steel rail surface detection device which comprises a supporting body, a surface detection assembly and at least one speed detection assembly, the supporting body is provided with a detection channel allowing a steel rail to pass through, the surface detection assembly comprises a plurality of image acquisition pieces, and the image acquisition pieces are arranged relative to the steel rail. The image acquisition pieces are arranged at intervals in the circumferential direction of the detection channel and are connected to the supporting body, and the speed detection assembly is connected to the supporting body and used for detecting the moving speed of the steel rail relative to the supporting body. According to the utility model, the problem that the detection precision and efficiency are not qualified easily due to the fact that the surface image of the steel rail cannot be accurately obtained when the steel rail passes through the roller line according to the required speed because the 3D cameras are only arranged on the periphery of the steel rail can be effectively solved.

The invention discloses a notebook computer four-side size detection device, and relates to the technical field of notebook computer detection, and the notebook computer four-side size detection device comprises a main body, and a material box assembly line mechanism, a material loading and taking mechanism, a material feeding module, a gap detection mechanism, a step difference detection mechanism, a material discharging module, a material unloading and taking mechanism and a material discharging and placing mechanism which work cooperatively in sequence. According to the invention, the detection efficiency is greatly improved, through automatic material circulation and detection process design, the detection of gaps and step sizes of four sides of the notebook computer can be completed within 13 seconds, and compared with manual detection (the time consumed by a single machine is more than 30 seconds) and semi-automatic equipment, the takt requirement of large-scale production is met, the detection precision is improved, and the detection cost is reduced. The multi-axis moving module is matched with the industrial CCD camera and the 3D camera module, the stable positioning mechanism is combined, the detection precision is high, the high-precision assembly requirement of 0.05 mm-level tolerance can be met, the manual intervention requirement is reduced, product surface scratching possibly caused by secondary positioning is avoided, and the defective product rate is reduced.

The invention particularly relates to an automatic coating trajectory planning method for a composite material workpiece. The method comprises the following steps that 1, robot zero point calibration, 3D camera and robot pose relation calibration, multi-robot pose relation calibration, workpiece displacement mechanism and robot pose calibration and spray gun and robot tail end pose relation calibration are conducted; 2, a paint spraying robot carrying the 3D camera is controlled to carry out iterative shooting and point cloud fusion on the workpiece, a complete working three-dimensional point cloud model is obtained, and the real edge of the complete working three-dimensional point cloud model is recognized; and 3, trajectory planning is carried out, the trajectory planning is carried out in two parts, namely complex curved surface path planning and boundary trajectory planning, and the two parts of planning are fused to finally form a profiling migration trajectory of the robot driving the spray gun. And a track planning mode is adopted, so that track planning is more complete and fine, and the spraying quality of the material edge is improved.

A system for monitoring calibration of a vision system on a marine vessel is provided, comprising: cameras configured to be mounted to the marine vessel with an associated field of view (FOV), and each associated with a 3D camera coordinate system; and a processor configured to: determine 3D location information of a candidate feature in a 3D global coordinate system based on calibration information; determine that the candidate feature is within a FOV of both a first and second camera; determine a distance between a corresponding points calculated by the first and second cameras; add an error metric based on the distance to a data structure; calculate a calibration health metric based on error metrics in the data structure; determine that the calibration health metric is indicative of threshold miscalibration; and generate a calibration alert.

The invention relates to a grabbing parameter calculation method based on garbage three-dimensional modeling, and the method comprises the following steps: S1, based on a multi-view three-dimensional reconstruction technology, employing a multi-view stereoscopic vision algorithm, collecting object multi-angle RGB-D data through a 3D camera, employing a Poisson surface reconstruction algorithm to construct a complete three-dimensional model, and generating a garbage three-dimensional point cloud model, s2, on the basis of the three-dimensional point cloud model in the S1, a Z-buffer depth detection algorithm is adopted, the lowest point of the model in the Z-axis direction is recognized through an axial extremum search method, space reference coordinates are determined in combination with a ground projection method, and reference positioning data are generated. The method has the advantages that the multi-angle RGB-D data is fused through the multi-view three-dimensional reconstruction technology, the high-precision three-dimensional model is constructed by adopting the Poisson surface reconstruction algorithm, the problem of geometric feature deficiency caused by traditional single-view modeling is effectively solved, the spatial representation capability of the special-shaped object is improved, the lowest point of the model is recognized based on the Z-buffer depth detection algorithm, and the accuracy of the model is improved. And space reference coordinates are established in combination with a ground projection method, and the physical rationality of grabbing and positioning is enhanced.

The invention provides an automatic reagent storing and taking refrigeration house, and belongs to the field of medical storage equipment. A goods shelf is fixedly connected with a plurality of lifting assemblies, a conveying assembly is located at the bottom of the goods shelf, the goods shelf is fixedly connected with a left translation assembly and a right translation assembly, and the center of the front side of the goods shelf is provided with a manipulator module and fixedly connected with a stacking machine; the RFID detection bin automatically detects reagents in the box, the external control end records and verifies the types and the number of the reagents, the conveying assembly and the lifting assembly are responsible for conveying the external material box into the cold storage, the stacking machine can transfer the external material box and a storage box in the cold storage to the translation assembly, and a plurality of reagent images and three-dimensional positions are determined in cooperation with the 3D camera. The mechanical arm module classifies reagents in an external material box through a vacuum suction nozzle and places the reagents in the separated corresponding storage boxes in the warehouse, and the stacking machine is responsible for moving the storage boxes in the warehouse to the corresponding storage positions of the goods shelf. Similarly, a stocker can be adopted to take the storage box in the warehouse to the translation assembly, and a manipulator is matched to take the reagent to an external material box for delivery. Therefore, automatic sorting, storing and taking of the reagents are achieved.

The invention relates to a robot gear disc loading method based on 3D vision, and belongs to the technical field of industrial robot automation. The method comprises the steps that connection between a 3D camera and a robot is established, hand-eye calibration is completed, a template library of a gear type circular workpiece and a template library of a material disc type non-circular workpiece are established respectively, template matching pose output is carried out, and the robot gear disc loading precision is improved; outputting a high-precision pose matrix of the workpiece; and the grabbing points are optimally sorted according to the running direction of the robot, the placing points of the gears are sorted according to the preset sequence of the teaching points of the robot, and regular visual correction is executed to maintain the long-term precision of the system. The problems of low efficiency, error proneness, poor flexibility and the like of traditional manual tray loading are solved, high precision, high rhythm and full automation of multi-model gear tray loading operation are achieved, and the intelligent level and stability of a production line are remarkably improved.

The invention discloses an automatic product appearance detection line. According to the detection process, the automatic product appearance detection line sequentially comprises a feeding station, a first positioning and overturning station, a first detection station, a second positioning and overturning station, a second detection station, a sorting station and a discharging station. Each of the first positioning and overturning station and the second positioning and overturning station comprises a positioning mechanism for positioning a product and an overturning mechanism for overturning the product. The first detection station and the second detection station each comprise a first 2D detection mechanism and a 3D detection mechanism which are used for detecting the front face and the back face of a product. The first detection station further comprises a second 2D detection mechanism for detecting the side face of the product. The overturning mechanism is used for overturning the product, the first 2D detection mechanism and the 3D detection mechanism are used for detecting the front face and the back face of the product from the position above the product, the second 2D detection mechanism is used for detecting the side face of the product, the 2D camera and the 3D camera are combined for detection, the automation degree of detection is improved, and the comprehensiveness and the accuracy of detection are guaranteed.

The embodiment of the invention provides a target grabbing method and device and a robot. In the embodiment of the invention, the 2D image acquisition equipment such as a 2D camera is used for assisting the mechanical arm of the robot to realize target grabbing, and compared with a 3D camera, the hardware cost is effectively reduced. According to the embodiment of the invention, the first relative pose of the reference object coordinate system relative to the mechanical arm base coordinate system when the target object is in the reference pose and the teaching pose of the mechanical arm when the target object is in the reference pose are taken as the reference; and in combination with a second relative pose of the reference object coordinate system relative to the base coordinate system of the mechanical arm when the target object is in the non-reference pose, the target pose of the mechanical arm capable of successfully grabbing the target object in the non-reference pose can be determined, so that the target object in the non-reference pose can be grabbed, namely disordered grabbing is realized. In this way, the situation that the grabbing speed is affected by the scanning speed of the 3D camera can be avoided, and therefore the target grabbing efficiency is effectively improved.

The invention belongs to the technical field of new energy automobile batteries, and discloses a battery shell deformation detection device which comprises a conveyor, a supporting frame is arranged on one side of the conveyor, a mechanical arm is arranged at the top end of the supporting frame, and a D camera is arranged at the end, away from the supporting frame, of the mechanical arm. According to the battery shell deformation detection device provided by the invention, the detection frame is arranged; during detection, the battery case is fixed through the clamping blocks; then the battery shell is overturned through the detection frame, so that the recording dead angle of the 3D camera on the battery shell is fully exposed, the data recording integrity is improved, and the detection precision is improved; after the detection is completed, the battery shell is reset and the limitation is released; meanwhile, the detection frame is reset, so that the detection frame is prevented from interfering with movement of the battery shell on the conveyor; the 3D camera transmits recorded data to an external computer, and the computer analyzes and judges whether the currently detected battery shell is deformed or not; and recording is carried out when deformation exists.

The utility model provides an angle adjusting mechanism of a 3D depth camera, which comprises a rear fixing seat, a 3D camera adjusting metal plate, the 3D depth camera and a 3D camera mounting shell, and is characterized in that the 3D camera mounting shell is inserted into a circular hole through a mounting part and is connected with the rear fixing seat to form a revolute pair, and the 3D camera mounting shell can rotate around the central axis of the circular hole; the two sides of the 3D camera adjusting metal plate are connected with the 3D camera mounting shell through connecting shafts to form rotating pairs. The two ends of the side, away from the lens of the 3D depth camera, of the 3D camera adjusting metal plate are connected with a spring and a second screw correspondingly, and the 3D depth camera and the 3D camera adjusting metal plate can be driven by the second screw to rotate around the axis of the connecting shaft. According to the utility model, through manual rotation adjustment in the first direction and spring tightness adjustment in the second direction, flexible angle adjustment of the 3D depth camera is realized, and the 3D depth camera can adapt to different application scene requirements.

The invention is suitable for the field of image recognition, and discloses a hand-eye matrix calibration method after 3D camera vibration, terminal equipment and a storage medium. The method for calibrating the hand-eye matrix after the 3D camera vibrates comprises the following steps: calibrating an initial hand-eye matrix of an initial camera coordinate system and a robot-based coordinate system; according to the initial hand-eye matrix and a first image collected by a 3D camera, converting an inner angular point of a calibration plate in the first image to a target coordinate under a robot base coordinate system, and according to the target coordinate, defining an object coordinate system; calculating a first transformation matrix of an object coordinate system and a robot base coordinate system according to the target coordinate; when vibration of the 3D camera is detected, determining a second transformation matrix of the current camera coordinate system and the object coordinate system according to a second image collected by the 3D camera; and calculating a current hand-eye matrix of the current camera coordinate system and the robot base coordinate system according to the first transformation matrix and the second transformation matrix. According to the invention, the current hand-eye matrix can be determined again efficiently after the camera vibrates.

The application discloses an industrial camera lens system, which comprises an industrial lens, a base, a fixed part connected with the base, a movable part connected with the fixed part on one side and forming a free end on the other side, a pipe clamp formed by cooperation of the free end and the fixed part, an inner wall of the pipe clamp having at least three internal thread segments, the internal thread segments being continuously extended along an axial direction, adjacent internal thread segments being discontinuously arranged in a circumferential direction, a pre-tightening positioning piece vertically penetrating through the movable part and abutting against an external thread of the industrial lens to realize radial pre-fixing of the industrial lens and the internal thread segments, and a locking piece vertically penetrating through the free end of the movable part and connected with the fixed part, so that the free end of the movable part is deformed towards the fixed part or away from the fixed part to realize radial clamping or loosening of the pipe clamp on the industrial lens. The application further discloses a 3D camera. The application further discloses a focusing method for the industrial lens. The application guarantees that the industrial lens is not affected by locking force to generate position deviation and ensures position precision of the industrial lens.

The invention discloses an automatic device for automatic loading, carrying and stacking in the chemistry and chemical industry. The automatic device comprises an upper system, a power-assisted pneumatic mechanical arm, a conveying and storing device, a stacking mechanism and an intelligent monitoring system. The upper system coordinates and controls the operation of each device; the hoisting type power-assisted pneumatic mechanical arm is provided with a pneumatic cylinder and an electromagnetic clamping jaw so as to grab and carry materials. The conveying and storage device comprises a conveying belt and a storage box to complete material conveying and collection; the stacking mechanism is composed of a platform and a mechanical arm. The intelligent monitoring system integrates a 2D camera to carry out location taking and positioning, and a 3D camera uses a structured light technology to realize spatial modeling. Through the integrated automatic control and intelligent vision technology, full-process automation of material grabbing, carrying, storing and stacking is achieved, the labor intensity is remarkably relieved, the high-altitude operation risk is eliminated, the processing precision and efficiency of materials of different specifications are improved by means of the self-adaptive learning capacity, and the working efficiency is improved. And the automation level and the safety of chemical production links are improved.