CN114700989A - Automatic leveling device for plane camera and control method thereof - Google Patents
Automatic leveling device for plane camera and control method thereof Download PDFInfo
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- CN114700989A CN114700989A CN202210433666.0A CN202210433666A CN114700989A CN 114700989 A CN114700989 A CN 114700989A CN 202210433666 A CN202210433666 A CN 202210433666A CN 114700989 A CN114700989 A CN 114700989A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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Abstract
The invention relates to an automatic leveling device of a plane camera, which is used for leveling and fixing an industrial plane camera with an industrial camera lens; the industrial flat camera is mounted on the leveling bottom plate through the camera mounting bracket, and a lens surface of a lens of the industrial camera is arranged in parallel with the leveling bottom plate; the leveling locking device comprises a motor with a self-locking function, a ball stud rod end joint bearing and a rotary connecting piece, the motor is fixedly arranged on the mounting base plate, the rotary connecting piece is arranged at the output end of the motor, and the ball stud rod end joint bearing is connected with the rotary connecting piece and the leveling base plate. The device does not need personnel to intervene, can accomplish camera leveling work fast, guarantees angle of adjustment's degree of accuracy simultaneously. A control method of an automatic leveling device of a plane camera is used for controlling the automatic leveling device and can also ensure the automation and the high efficiency of the leveling device.
Description
Technical Field
The invention relates to the technical field of robot vision, in particular to an automatic leveling device of a plane camera and a control method thereof.
Background
The robot is a common name of an automatic control machine, the automatic control machine comprises all machines (such as a machine dog, a machine cat and the like) for simulating human behaviors or ideas and other organisms, a plurality of taxonomies and disputes exist in the narrow definition of the robot, some computer programs are even called as the robot, in the modern industry, the robot refers to an artificial machine device capable of automatically executing tasks and used for replacing or assisting human work, the robot is a product of high-level integrated control theory, mechano-electronics, computers, materials and bionics, and the robot has important applications in the fields of industry, medicine, agriculture, building industry and even military and the like.
Hand-eye calibration is a necessary step for visually guiding the robot to work, and plane camera leveling is a key step of hand-eye calibration, which determines the precision of the hand-eye calibration.
In the prior art, technicians make corresponding tool fixtures and repeatedly adjust positioning fixtures to change the angle and the position of a camera, so that the camera is relatively parallel to a working plane.
However, the manual adjustment method easily causes a parallelism error, and further causes poor accuracy of the result of the hand-eye calibration, and the method is time-consuming and tedious, increases the workload of field technicians, affects the use experience of users, and is not beneficial to popularization and application of the tool clamp in the market.
Disclosure of Invention
In order to overcome the defects in the prior art, the first invention aims to provide the automatic leveling device for the plane camera, which can quickly finish the leveling work of the camera without the intervention of personnel, simultaneously ensure the accuracy of an angle adjustment, enhance the use experience of a user and facilitate the popularization and application of the leveling device in the technical field of robot vision. The second invention aims to provide a control method of the automatic leveling device of the plane camera, which is used for controlling the automatic leveling device, ensuring the automation and high efficiency of the leveling device and enhancing the use experience of a user.
The plane camera automatic leveling device and the control method of the plane camera automatic leveling device are technically related to each other, and belong to the same invention concept.
In order to achieve the first object, the invention adopts the following technical scheme: an automatic leveling device of a plane camera is used for leveling and fixing an industrial plane camera with an industrial camera lens; the industrial flat camera is mounted on the leveling bottom plate through the camera mounting bracket, and a lens surface of an industrial camera lens is arranged in parallel with the leveling bottom plate; still including being used for the leveling and fixed leveling locking device of leveling bottom plate, leveling locking device is including motor, ball stud rod end joint bearing and the swivelling joint spare that has self-locking function, the motor set firmly in mounting plate, swivelling joint spare install in the output of motor, ball stud rod end joint bearing connects swivelling joint spare with leveling bottom plate.
As a preferable aspect of the present invention, the camera mounting bracket is mounted at a central position of the leveling base plate.
As a preferred scheme of the present invention, a leveling bottom plate hole for the industrial plane camera to pass through is further formed in the center of the leveling bottom plate.
As a preferred scheme of the present invention, the center of the mounting bottom plate is further provided with a mounting bottom plate hole for the industrial planar camera to pass through, and the mounting bottom plate hole is arranged opposite to the leveling bottom plate hole.
As a preferable scheme of the present invention, there are two leveling locking devices, and the two leveling locking devices are respectively disposed at opposite corners of the leveling base plate.
In a preferred embodiment of the present invention, the motors in the two leveling and locking devices are both stepping motors.
As a preferable scheme of the present invention, the number of the leveling locking devices is four, and the four leveling locking devices are respectively disposed at four corners of the leveling base plate.
In a preferred embodiment of the present invention, two of the four leveling and locking devices are stepping motors.
As a preferable scheme of the invention, the ball stud rod end joint bearing is a C-shaped ball stud joint bearing.
Compared with the prior art, the invention has the beneficial effects that: according to the automatic leveling device for the plane camera, the industrial plane camera is fixedly installed on the leveling bottom plate through the camera installation support by arranging the leveling bottom plate, the installation bottom plate and the camera installation support, leveling and fixing operation is carried out on the leveling bottom plate through the leveling locking device, and therefore leveling and fixing operation of the industrial plane camera is achieved.
In order to achieve the second object, the invention adopts the following technical scheme: a control method of an automatic leveling device of a plane camera is used for controlling the automatic leveling device of the plane camera; the method comprises the following steps: s1, assembling the automatic leveling device, and fixing the industrial flat camera with the industrial camera lens on the camera mounting bracket; s2, placing the target plane in the visual field range of the industrial plane camera; s3, acquiring a target plane image through an industrial plane camera; s4, calculating a transformation matrix of the target plane coordinate system and the industrial plane camera coordinate system according to the characteristic points of the target plane; s5, converting the transformation matrix into Euler angles (EZ, EY, EX) for representation; s6, calculating the displacement adjusted by the motor according to the values of EX and EY; s7, repeating S3-S6 until EX and EY meet the threshold value.
Compared with the prior art, the invention has the beneficial effects that: the control method of the automatic leveling device of the plane camera is used for controlling the automatic leveling device of the plane camera, can ensure the accuracy of the angle adjustment of the camera, does not need to adjust the camera for many times, can improve the adjustment rate, further enhances the use experience of a user, and is beneficial to popularization and application of the leveling device in the technical field of robot vision.
Drawings
FIG. 1 is a schematic view of an automatic leveling device for a flat panel camera according to the present invention installed on a target plane;
FIG. 2 is a schematic diagram of the position relationship between the camera coordinate system and the target plane coordinate system according to the present invention;
FIG. 3 is a schematic view of the adjustment range of an industrial flat camera in an automatic leveling device for a flat camera according to the present invention;
reference numerals: 1. leveling the bottom plate; 2. a camera mounting bracket; 3. an industrial flat camera; 4. an industrial camera lens; 5. a target plane; 6. a motor; 7. a ball head bolt rod end joint bearing; 8. a rotating connector; 9. and (5) mounting a bottom plate.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, a plane camera auto-leveling device for leveling and fixing an industrial plane camera 3 having an industrial camera lens 4; the industrial flat camera 3 is fixedly installed on the leveling bottom plate 1 through the camera installation support 2, and in order to level and fix the industrial camera lens 4 through leveling and fixing the leveling bottom plate 1, the lens surface of the industrial camera lens 4 is arranged in parallel with the leveling bottom plate 1. Mechanical locking is often needed after manual adjustment is finished, the posture of the camera is easy to change in the locking process, and in order to avoid shaking errors caused by manual fixing, the automatic leveling device is further provided with a leveling locking device used for leveling and fixing the leveling bottom plate 1, the leveling locking device mainly comprises a motor 6 with a self-locking function, a ball stud rod end joint bearing 7 and a rotary connecting piece 8, one end of the motor 6 is fixedly arranged on or fixedly connected to the installation bottom plate 9, the rotary connecting piece 8 is arranged at the output end of the motor 6, and the ball stud rod end joint bearing 7 is connected with the rotary connecting piece 8 and the leveling bottom plate 1 to level and fix the leveling bottom plate 1 and further level and fix the industrial plane camera 3. After the industrial plane camera 3 is installed, personnel intervention is not needed, the industrial plane camera 3 and the working plane can be automatically adjusted to be parallel through the leveling locking device, errors in the manual adjusting process are reduced, the accuracy of the angle of adjustment of the camera is guaranteed, and the use experience of a user is further enhanced.
In order to ensure the structural stability of the automatic leveling device, the camera mounting bracket 2 is installed at the center of the leveling base plate 1. In order to facilitate the upward movement of the industrial planar camera 3 to realize leveling, a leveling bottom plate hole for the industrial planar camera 3 to pass through is further formed in the center of the leveling bottom plate 1, and further, a mounting bottom plate hole for the industrial planar camera 3 to pass through is further formed in the center of the mounting bottom plate 9, and the mounting bottom plate hole is arranged right opposite to the leveling bottom plate hole.
Further, in order to ensure the usability of the automatic leveling device, two leveling locking devices may be provided, the two leveling locking devices are respectively disposed at opposite corners of the leveling base plate 1, and the motors 6 in the two leveling locking devices are both stepping motors or servo motors. Or, in order to further ensure the stability of the leveling device, the number of the leveling locking devices is four, the four leveling locking devices are respectively arranged at four corners of the leveling base plate 1, and two motors 2 in the four leveling locking devices are stepping motors or servo motors. According to the invention, the pitch angle and the roll angle of the industrial plane camera 3 can be adjusted by arranging the two high-precision stepping motors, and meanwhile, the stepping motors can realize accurate position control, so that the industrial plane camera 3 can be adjusted to a required angle, and a shaking error caused by manual adjustment is avoided.
The ball stud rod end joint bearing 7 is a C-shaped ball stud joint bearing, the joint bearing is a spherical sliding bearing, the sliding contact surface of the joint bearing is an inner spherical surface and an outer spherical surface, the joint bearing can rotate and swing at any angle during movement, and the joint bearing is manufactured by adopting various special processing methods such as surface phosphorization, opening blasting, pad embedding, spraying and the like. The knuckle bearing has the characteristics of large load capacity, impact resistance, corrosion resistance, wear resistance, self-aligning, good lubrication and the like, can reduce the adjustment difficulty of the adjusting flat base plate 1, is convenient for carrying out angle adjustment on the industrial planar camera 3, and enhances the use experience of a user.
The technical principle of the implementation of the invention is as follows:
as shown in FIG. 2, the purpose and standard of camera leveling is the target plane coordinate system
(coordinate System 1) and Industrial Camera coordinate System
(coordinate system 2) parallel.
The imaging model of the industrial flat camera 3 is:
wherein,
，
referred to as the equivalent focal length;
is a 3 × 4 projection matrix;
is totally made of
Five parameters are determined because
Five parameters only corresponding to the industrial planeThe camera 3 is inherently parameter dependent, we call the composition
Is an internal reference matrix of the camera;
is the extrinsic parameter matrix of the camera.
Extrinsic parameter matrix
The position and attitude of the camera in the world coordinate system, i.e.
In that
The expression in (1). Wherein,
a matrix of rotations is represented, which is,
representing a translation matrix, only considering coordinate translations since they have no effect on the pose of the camera
And (4) finishing.
Its corresponding euler angle:
setting a detection threshold
When is coming into contact with
Or
When the angle to be adjusted is converted into the displacement of the motor 6, the leveling base plate 1 can be adjusted within +/-3 degrees until the angle is adjusted to be correct as shown in figure 3
And is
When it is, it can be considered that
And
x, Y are parallel to each other.
The control method of the automatic leveling device of the plane camera is used for controlling the automatic leveling device of the plane camera; the specific implementation process is as follows:
s1, assembling the automatic leveling device, and fixing the industrial flat camera 3 with the industrial camera lens 4 on the camera mounting bracket 2;
s2, placing the target plane 5 in the visual field range of the industrial plane camera 3;
s3, acquiring an image of the target plane 5 through the industrial plane camera 3;
s4, calculating a transformation matrix of the coordinate system of the target plane 5 and the coordinate system of the industrial plane camera 3 according to the characteristic points of the target plane 5;
s5, converting the transformation matrix into Euler angles (EZ, EY, EX) for representation;
s6, calculating the displacement adjusted by the motor 6 according to the values of EX and EY; s7, repeating S3-S6 until EX and EY meet a certain threshold.
According to the method for calculating the leveling angle of the plane camera, the relation between the camera coordinate system and the target plane coordinate system is established through the external reference model of the camera, the adjustment angle required by the camera is obtained through calculating the transformation relation of the two coordinate systems, and therefore the adjustment angle is converted into the displacement of the motor, the leveling of the camera is achieved, the camera does not need to be leveled manually, the accuracy of the leveling angle of the camera is guaranteed, meanwhile, the leveling efficiency of the industrial camera is improved, and the use experience of a user is enhanced.
According to the automatic leveling device for the plane camera, the leveling bottom plate 1, the mounting bottom plate 9 and the camera mounting support 2 are arranged, the industrial plane camera 3 is fixedly mounted on the leveling bottom plate 1 through the camera mounting support 2, leveling and fixing operation is carried out on the leveling bottom plate 1 through the leveling locking device, and then leveling and fixing operation of the industrial plane camera 3 is achieved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention; thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Although the reference numerals in the figures are used more here: 1. leveling the bottom plate; 2. a camera mounting bracket; 3. an industrial flat camera; 4. an industrial camera lens; 5. a target plane; 6. a motor; 7. a ball head bolt rod end joint bearing; 8. a rotating connector; 9. mounting a base plate, etc., but does not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. An automatic leveling device for a plane camera is used for leveling and fixing an industrial plane camera (3) with an industrial camera lens (4); the method is characterized in that: the industrial flat camera is characterized by comprising a leveling bottom plate (1), a mounting bottom plate (9) and a camera mounting bracket (2), wherein the industrial flat camera (3) is mounted on the leveling bottom plate (1) through the camera mounting bracket (2), and a lens surface of an industrial camera lens (4) is arranged in parallel with the leveling bottom plate (1); still including being used for the leveling and fixed leveling locking device of leveling bottom plate (1), leveling locking device is including motor (6), ball stud rod end joint bearing (7) and swivel connected coupler (8) that have self-locking function, motor (6) set firmly in mounting plate (9), swivel connected coupler (8) install in the output of motor (6), ball stud rod end joint bearing (7) are connected swivel connected coupler (8) with leveling bottom plate (1).
2. The automatic leveling device for a plane camera according to claim 1, wherein: the camera mounting bracket (2) is mounted at the center of the leveling bottom plate (1).
3. The automatic leveling device for plane camera according to claim 2, wherein: and a leveling bottom plate hole for the industrial plane camera (3) to pass through is further formed in the center of the leveling bottom plate (1).
4. The automatic leveling device for a plane camera according to claim 3, wherein: the center of the installation bottom plate (9) is provided with an installation bottom plate hole for the industrial plane camera (3) to pass through, and the installation bottom plate hole is right opposite to the leveling bottom plate hole.
5. The automatic leveling device for a plane camera according to claim 1 or 4, wherein: the number of the leveling locking devices is two, and the two leveling locking devices are respectively arranged at the diagonal positions of the leveling bottom plate (1).
6. The automatic leveling device for a plane camera according to claim 5, wherein: and the motors (6) in the two leveling and locking devices are both stepping motors.
7. The automatic leveling device for a plane camera according to claim 1 or 4, wherein: the number of the leveling locking devices is four, and the four leveling locking devices are respectively arranged at four corners of the leveling bottom plate (1).
8. The automatic leveling device for a plane camera according to claim 7, wherein: two motors (2) in the four leveling locking devices are stepping motors.
9. The automatic leveling device for a plane camera according to claim 1, wherein: the ball stud rod end joint bearing (7) is a C-shaped ball stud joint bearing.
10. A control method of an automatic leveling device of a plane camera, for controlling an automatic leveling device of a plane camera according to any one of claims 1 to 9; the method is characterized in that: the method comprises the following steps: s1, assembling the automatic leveling device, and fixing the industrial plane camera (3) with the industrial camera lens (4) on the camera mounting bracket (2); s2, placing the target plane (5) in the visual field range of the industrial plane camera (3); s3, acquiring an image of the target plane (5) through the industrial plane camera (3); s4, calculating a transformation matrix of the coordinate system of the target plane (5) and the coordinate system of the industrial plane camera (3) according to the characteristic points of the target plane (5); s5, converting the transformation matrix into Euler angles (EZ, EY, EX) for expression; s6, calculating the displacement adjusted by the motor (6) according to the values of EX and EY; s7, repeating S3-S6 until EX and EY meet the threshold value.
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