CN211123748U - Machine vision motion control device and system - Google Patents
Machine vision motion control device and system Download PDFInfo
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- CN211123748U CN211123748U CN202020046002.5U CN202020046002U CN211123748U CN 211123748 U CN211123748 U CN 211123748U CN 202020046002 U CN202020046002 U CN 202020046002U CN 211123748 U CN211123748 U CN 211123748U
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Abstract
本实用新型公开了一种机器视觉运动控制装置及系统，所述装置包括：底座；设置在所述底座上的跟踪目标转台；设置在所述跟踪目标转台上，且与所述跟踪目标转台转动连接的程控目标体；设置在所述程控目标体上的多个目标LED灯；设置在所述底座上，且与所述跟踪目标转台面对面设置的视觉监控器，所述视觉监控器与预设的上位机连接，用于动态捕捉所述目标LED灯并进行图像采集，并将图像数据发送至所述上位机。本实用新型中的机器视觉运动控制装置中既包括程控目标体，又包括视觉监控器，结构简单，且操作便利，可通过视觉监控器来实现对程控目标体上的目标LED进行实时图像捕捉，以便实现对目标LED的追踪，消除误差，提高追踪精度。
The utility model discloses a machine vision motion control device and a system. The device comprises: a base; a tracking target turntable arranged on the base; arranged on the tracking target turntable and rotated with the tracking target turntable A connected program-controlled target body; a plurality of target LED lights arranged on the program-controlled target body; a visual monitor arranged on the base and facing the tracking target turntable, the visual monitor and the preset It is connected to the host computer for dynamically capturing the target LED light and performing image acquisition, and sending the image data to the host computer. The machine vision motion control device in the utility model includes both a program-controlled target body and a visual monitor, which has a simple structure and convenient operation, and can realize real-time image capture of the target LED on the program-controlled target body through the visual monitor. In order to achieve the tracking of the target LED, eliminate errors and improve tracking accuracy.
Description
Technical Field
The utility model relates to a machine vision and motion control technical field especially relate to a machine vision motion control device and system.
Background
The machine vision motion control system (or called photoelectric tracking system, machine vision tracking system) generally comprises a main body of a rotary table, and an industrial camera, an image acquisition card, a motion controller, a motor driver and an upper computer which are carried by the main body, wherein the main body is a PT rotary table (two-dimensional rotary table), and a tracked target can be a real object in the environment where the system is located. The industrial camera acquires images of a moving target and transmits the images to the image acquisition card, the upper computer performs image processing through algorithms such as image binarization and the like to obtain positioning and position deviation of the target, the upper computer outputs a control instruction to the motion controller through a PID control algorithm, and then the motor driver drives the motor to move, so that the target is tracked.
However, the main body of the existing machine vision motion control system only comprises a turntable part, does not comprise a tracked target, has a complex structure and inconvenient operation, and cannot know the accurate position and the tracking error of the target.
Thus, there is still a need for improvement and development of the prior art.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model lies in, to the above-mentioned defect of prior art, provide a machine vision motion control device and system.
The utility model provides a technical scheme that technical problem adopted as follows:
in a first aspect, the utility model provides a machine vision motion control device, wherein, the device includes the base, set up the tracking target revolving stage on the base, set up on the tracking target revolving stage, and with the program-controlled object body of tracking target revolving stage rotation connection, set up a plurality of targets L ED lamps on the program-controlled object body, set up on the base, and with the visual monitor of tracking target revolving stage face-to-face setting, the visual monitor is connected with predetermined host computer for dynamic catch the target L ED lamp and carry out image acquisition, and send image data to the host computer.
In one embodiment, the tracking target turntable comprises: a turntable main body disposed on the base; a stepping motor disposed in the turntable body; the first harmonic reducer is arranged in the rotary table main body and located above the stepping motor, and the first harmonic reducer is connected with the program-controlled target body.
In one embodiment, the programmable target is coaxially connected to the first harmonic reducer.
In one embodiment, a limit block for controlling the rotation angle of the program-controlled object is arranged on the turntable main body, and the length of the limit block is greater than the thickness of the program-controlled object.
In one embodiment, the vision monitor includes a two-dimensional rotating stage disposed on the base, a rotating assembly disposed on the two-dimensional rotating stage, and an industrial camera disposed on the rotating assembly for capturing and image capturing the target L ED lamp.
In one embodiment, the rotating assembly comprises: a first rotating member that is provided on the two-dimensional rotating table base and rotates on a plane of the two-dimensional rotating table base; a second rotating member provided on the first rotating member, a rotation direction of the second rotating member being perpendicular to a rotation direction of the first rotating member; the industrial camera is disposed on the second rotating member.
In one embodiment, a first servo motor is arranged in the two-dimensional rotating table base, the first servo motor is connected with a second harmonic reducer, and the second harmonic reducer is connected with the first rotating member.
In one embodiment, a second servo motor is disposed in the first rotating member, the second servo motor is connected to a third harmonic reducer, and the third harmonic reducer is connected to the second rotating member.
In one embodiment, the target L ED lamps are uniformly spaced on the programmed target, and the target L ED lamps are the same infrared L ED or different infrared L ED in shape.
In a second aspect, the present invention further provides a machine vision motion control system, wherein the system includes the above solution the machine vision motion control device and the host computer connected to the machine vision motion control device, the host computer is used for analyzing and determining the image collected by the vision monitor, and the position information of the target L ED is determined.
The technical effect of the utility model is that the utility model provides a both include programme-controlled object among the machine vision motion control device, include the vision watch-dog again, simple structure, and the operation is convenient, and accessible vision watch-dog comes the developments to carry out real-time image to target L ED on the programme-controlled object and catches to realize the pursuit to target L ED, so that learn the absolute position and the tracking error of target, and eliminate the error, improve and track the precision.
Drawings
Fig. 1 is a three-dimensional structure diagram of the machine vision motion control device provided by the present invention.
Fig. 2 is a schematic structural diagram of a first embodiment of a program-controlled object in the machine vision motion control apparatus provided by the present invention.
Fig. 3 is a schematic structural diagram of a second embodiment of a program-controlled object in the machine vision motion control apparatus according to the present invention.
Fig. 4 is a schematic block diagram of a machine vision motion control system provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the technical solutions in the embodiments can be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or can not be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
In order to solve the problems of the prior art, the embodiment provides a machine vision motion control device, which is specifically shown in fig. 1, and in the embodiment, the machine vision motion control device includes a base 10, a tracking target turntable 20 disposed on the base 10, a program control target body 30 disposed on the tracking target turntable 20 and rotatably connected to the tracking target turntable 20, a plurality of target L ED lamps 310 (shown in fig. 2 and 3) disposed on the program control target body 30, and a vision monitor 40 disposed on the base 10 and facing the tracking target turntable 20, wherein the vision monitor 40 is connected to a preset upper computer and is used for dynamically capturing the target L ED lamps 310 and performing image acquisition, and sending image data to the upper computer.
In the present embodiment, since the machine vision motion control device includes both the programmed target 30 and the vision monitor 40, and the programmed target 30 is rotatably connected to the tracking target turntable 20, that is, the programmed target 30 can move relative to the tracking target turntable 20, the vision monitor 40 can monitor the programmed target 30 and can dynamically capture the target L ED lamp 310 on the programmed target 30, that is, the vision monitor 40 is movable, so as to acquire the image data of the target L ED lamp 310, and further send the acquired image data to the host computer connected to the machine vision motion control device, and the image data is analyzed by the host computer to obtain the position information of the target L ED lamp 310, and further receive the control command sent by the host computer, so as to adjust the angles of the first rotating member 421 and the second rotating member 422 in the vision monitor 40, thereby adjusting the alignment direction of the industrial camera 430, so as to achieve tracking of the target object, so as to know the absolute position and tracking error of the target, and to eliminate the tracking error, and to facilitate the visual tracking of the visual monitor 40, and to carry the visual tracking error.
Further, as shown in fig. 1, the tracking target turntable 20 in the present embodiment includes: a turntable main body 210 disposed on the base 10, wherein the turntable main body 210 is made of a hollow metal material (such as a cast iron plate); a stepping motor 220 provided in the turntable main body 210; a first harmonic reducer 230 disposed in the turret body 210 and located above the stepping motor 220, wherein the first harmonic reducer 230 is connected to the programming target 30. As can be seen from fig. 1, in the embodiment, the turret main body 210 is fixed on the base 10, and since the turret main body 210 is internally provided with the stepping motor 220 and the first harmonic reducer 230, and the stepping motor 220 is connected to the first harmonic reducer 230 through a belt, after the stepping motor 220 moves, the first harmonic reducer 230 is driven to move, and the program-controlled object 30 is driven to move by the first harmonic reducer 230.
In specific implementation, a motor driver may be further provided in this embodiment, and the motor driver is not shown in the figure because of its large volume. Specifically, the motor driver may be disposed in an electrical control cabinet, and the motor driver is connected to the stepping motor 200 to drive the stepping motor 200 to move through the motor driver. Further, a motion controller may be further disposed in the electrical control cabinet, and the motion controller is connected to the motor driver, and when the upper computer presets the motion parameters (i.e., the target motion speed and the target motion direction) of the program-controlled object 30, the motion controller controls the motor driver according to the motion parameters of the program-controlled object 30, so as to control the motion of the stepping motor 220 through the motor driver and drive the motion of the first harmonic reducer 230, thereby enabling the motion of the program-controlled object 30 to reach the preset motion parameters. The motion controller in this embodiment may be implemented by a controller carrying an intelligent chip, for example, a controller of AG-A3T model is used to control the motor driver, and the motion controller may control the motor driver to control not only start and stop of the stepping motor 220 but also forward and reverse rotation of the stepping motor 220.
In one embodiment, as shown in fig. 1, the programmable target 30 in this embodiment is coaxially coupled to the first harmonic reducer 230, which makes the movement of the programmable target 30 more stable. In this embodiment, when the programmed target 30 is connected to the first harmonic reducer 230, the middle portion of the programmed target 30 is connected to the first harmonic reducer 230, so that the two ends of the programmed target 30 are equally divided, and when the programmed target 30 moves, the left-right shaking does not occur, and the movement is more stable. Preferably, the programming target 30 in this embodiment is detachable, so that it is convenient to replace the programming target, for example, the programming target 30 and the first harmonic reducer 230 may be fixedly connected in a snap-fit manner, so that the operation is convenient.
Further, as shown in fig. 2 and 3, the programmed target 30 in this embodiment is a hollow metal (e.g., a cast iron plate), may be designed as a long rectangle, a long diamond, or other shapes, and has a symmetrical structure, the programmed target 30 in this embodiment has a plurality of target L ED lamps 310 uniformly spaced, each of the target L ED lamps 310 may emit infrared rays of the same wavelength at L ED, when one of the target L ED lamps 310 is turned on, the vision monitor 40 captures the turned-on target L ED 2ED lamp 310 and collects an image of the target L ED 3ED lamp 310 and sends the image to the host computer to determine the position of the target L ED 310 through analysis of the host computer, in this embodiment, the target L ED 5ED lamps 310 may be set to have the same shape or different shapes, as shown in fig. 2, when the target L ED 310 is a uniform circular infrared L ED lamp, the target L is turned on, the target 300 ED lamps 310 may emit light of the same wavelength, only one target led 310 may be turned on target 300, and only one target led 310 may be operated at a single time, i.e.e., when the target id 310 is a target 638, the target led 310 may be operated at a target 300 led 310 is a target 300 led 310 that is designed to be turned on a target.
Further, as shown in fig. 1, the turntable main body 210 in this embodiment is provided with a limiting block 240 for controlling the rotation angle of the program-controlled object 30, and the length of the limiting block 240 is greater than the thickness of the program-controlled object 30, so that when the program-controlled object 30 rotates to the maximum rotation angle, the limiting block 240 blocks the rotation angle to realize limiting. Preferably, the limiting block 240 in this embodiment is a protruding metal block, and is installed outside the turntable main body 210, and the protruding length exceeds the thickness of the programming target 30, so as to limit the maximum rotation angle of the programming target 30.
Further, as shown in FIG. 1, the vision monitor 40 in this embodiment is also disposed on the base 10 and is disposed facing the tracking target turntable 20. the vision monitor 40 includes a two-dimensional rotating pedestal 410 disposed on the base 10, a rotating assembly 420 disposed on the two-dimensional rotating pedestal 410, and an industrial camera 430 disposed on the rotating assembly 420, the industrial camera 430 is used for capturing the target L ED lamp 310 and performing image acquisition.A industrial camera 430 in this embodiment is used for converting an optical signal into an ordered electrical signal, the industrial camera 430 is disposed on the rotating assembly 420, so that the industrial camera 430 is movable, when the tracking target 30 on the tracking target turntable 20 moves, the industrial camera 430 also moves, and captures and acquires an image of the target L ED lamp 310 lighted on the tracking target 30. the industrial camera 430 in this embodiment has an image acquisition card, so that the acquisition of the target L ED lamp can be achieved by the image acquisition card.A height of the first harmonic reducer 230 in this embodiment (i.e., a height of the central axis of the programmed target 30) is preferably consistent with a height of the industrial camera 430 of the target ED lamp 310 on the tracking target turntable 20, so that the industrial camera 430 can ensure that the target 35 is consistent with the target ED lamp 310.
Specifically, as shown in fig. 1, the rotating assembly 420 in this embodiment is a two-dimensional rotating assembly, which includes a first rotating member 421 disposed on the two-dimensional rotating table 410 and rotating on a plane of the two-dimensional rotating table 410, a second rotating member 422 disposed on the first rotating member 421, a rotating direction of the second rotating member 422 is perpendicular to a rotating direction of the first rotating member 421, the industrial camera 430 is disposed on the second rotating member 422, a first servo motor 411 is disposed in the two-dimensional rotating table 410, the first servo motor 411 is connected to a second harmonic reducer 412 through a belt, and the second harmonic reducer 412 is connected to the first rotating member 421, so that when the first servo motor 411 moves, the second servo motor 412 is controlled, and the first rotating member 421 is driven to move by the second harmonic reducer 412 through the second harmonic reducer 412, and a second servo motor 423 is disposed in the first rotating member 421, the second servo motor 423 is connected to a third harmonic reducer 423.
Further, the present invention also provides a machine vision motion control system, as shown in fig. 4, the machine vision motion control system in this embodiment includes the machine vision motion control device 100 in the above embodiment and the upper computer 200 connected to the machine vision motion control device 100, the upper computer 200 in this embodiment is used to analyze the image collected by the vision monitor and determine the position information of the target L ED, of course, as described in the above embodiment, the upper computer 200 in this embodiment may send a signal instruction to the tracking target turntable and the vision monitor in the machine vision motion control device 100 to control the movement of the programmed target and the vision monitor on the tracking target turntable, eliminate the tracking error, and improve the tracking accuracy.
To sum up, the utility model discloses a machine vision motion control device and system, machine vision motion control device includes the base, set up the tracking target revolving stage on the base, set up on the tracking target revolving stage, and with the program-controlled object body of tracking target revolving stage rotation connection, a plurality of target L ED lamps of setting on the program-controlled object body, set up on the base, and with the vision monitor of tracking target revolving stage face-to-face setting, the vision monitor is used for catching target L ED lamp and image acquisition.
It is to be understood that the invention is not limited to the above-described embodiments, and that modifications and variations may be made by those skilled in the art in light of the above teachings, and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
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| CN202020046002.5U CN211123748U (en) | 2020-01-09 | 2020-01-09 | Machine vision motion control device and system |
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| CN202020046002.5U CN211123748U (en) | 2020-01-09 | 2020-01-09 | Machine vision motion control device and system |
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| CN211123748U true CN211123748U (en) | 2020-07-28 |
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