阅读说明：本技术 一种非接触式的物体定位测量装置及其控制方法 (Non-contact object positioning and measuring device and control method thereof ) 是由 关晶晶 武志涛 林佳智 朱文斌 曹政 王小双 窦威 于 2021-02-05 设计创作，主要内容包括：一种非接触式的物体定位测量装置,装置的OpenMV摄像头、激光测距模块及其电源、超声波测距模块均安装在二维云台上,二维云台、主控MCU模块、显示屏和电源模块均安装在装置平台上；OpenMV摄像头、激光测距模块、超声波测距模块以及显示屏均与主控MCU模块的接口电气连接。所述的激光测距模块及其电源、超声波测距模块安装在OpenMV摄像头上,激光电源安装在OpenMV摄像头的上部,激光测距模块与超声波测距模块均安装在OpenMV摄像头的前部面板上。一种基于非接触式物体定位测量装置的控制方法,包括手动控制模式及自动控制模式。本发明的有益效果是：便于携带、易于安装,提高了工业产品的检测效率。(A non-contact object positioning and measuring device is characterized in that an OpenMV camera, a laser ranging module, a power supply thereof and an ultrasonic ranging module of the device are all arranged on a two-dimensional cradle head, and the two-dimensional cradle head, a master control MCU module, a display screen and the power supply module are all arranged on a device platform; the OpenMV camera, the laser ranging module, the ultrasonic ranging module and the display screen are electrically connected with an interface of the master control MCU module. The laser ranging module, the power supply thereof and the ultrasonic ranging module are installed on the OpenMV camera, the laser power supply is installed on the upper portion of the OpenMV camera, and the laser ranging module and the ultrasonic ranging module are both installed on the front panel of the OpenMV camera. A control method based on a non-contact object positioning and measuring device comprises a manual control mode and an automatic control mode. The invention has the beneficial effects that: the portable, easily installation has improved the detection efficiency of industrial product.)

1. A non-contact object positioning and measuring device is characterized by comprising an OpenMV camera, a laser ranging module, a power supply of the laser ranging module, an ultrasonic ranging module, a two-dimensional cradle head, a device platform, a master control MCU module, an OLED display screen and a power supply module, wherein the OpenMV camera, the laser ranging module and the ultrasonic ranging module are all installed on the two-dimensional cradle head; the OpenMV camera, the laser ranging module, the ultrasonic ranging module and the display screen are electrically connected with an interface of the master control MCU module.

2. A non-contact object positioning and measuring device as claimed in claim 1, wherein the device platform is a stepped box-shaped support having a top and a bottom surface covered with a leather material.

3. The non-contact object positioning and measuring device as claimed in claim 1, wherein the two-dimensional pan/tilt is mounted on a higher platform of the device platform, the main control MCU module and the display screen are mounted on a lower platform of the device platform, and the power module is mounted inside the device platform.

4. The non-contact object positioning and measuring device as claimed in claim 1, wherein the display screen is a touch-type operation display screen having touch-type operation keys.

5. The non-contact object positioning and measuring device according to claim 1, wherein the two-dimensional pan/tilt head comprises a base, a horizontal direction rotation steering engine, a vertical direction rotation steering engine, and a vertical steering engine output arm.

6. The non-contact object positioning and measuring device according to claim 1, wherein the laser ranging module, the power supply thereof, and the ultrasonic ranging module are mounted on an OpenMV camera, the laser power supply is mounted on an upper portion of the OpenMV camera, and both the laser ranging module and the ultrasonic ranging module are mounted on a front panel of the OpenMV camera.

7. A control method based on a non-contact object positioning and measuring device is characterized by comprising a manual control mode and an automatic control mode:

the manual control mode comprises the following steps:

s1, placing the measured object right in front of the positioning and measuring device, wherein the OpenMV camera of the positioning and measuring device acquires the shape and size information of the measured object, and the laser ranging module and the ultrasonic ranging module acquire the distance value information between the device and the measured object;

s2, after a touch operation key for starting measurement on the touch display screen is pressed, the main control MCU module starts to process the relation between the distance between the measured object and the device and the pixel points, and the information such as the size of the measured object is calculated more accurately by using the distance as a reference standard and the pixel points as the size after deformation by using a well-fitted algorithm;

and S3, after the measurement is finished, the device gives out sound and light prompts, and information such as the shape, the size and the like of the measured object is displayed on a display screen.

The control method of the automatic control mode comprises the following steps:

s4, the conveyor belt conveys the measured object to the visible range of the OpenMV camera of the positioning and measuring device, at the moment, the OpenMV camera acquires the coordinate information of the measured object, and after the coordinate information is processed by the main control MCU module, the two-dimensional cradle head automatically rotates by an angle and autonomously tracks the measured object until the light spot of the laser light source coincides with the central point of the measured object;

s5, when the light spot of the laser light source is superposed with the central point of the measured object, the OpenMV camera of the positioning and measuring device acquires the shape information and the pixel data of the measured object, and the laser ranging module and the ultrasonic ranging module acquire the distance data between the device and the measured object;

s6, the main control MCU module starts to process the relation between the distance between the measured object and the device and the pixel points, and the information such as the size of the measured object is calculated more accurately by using the fitted algorithm and taking the distance as a reference standard and the pixel points as the size after deformation;

s7, after the measurement is finished, the device gives out sound and light prompts, and information such as the shape, the size and the like of the measured object is displayed on a display screen;

and S8, after the object to be measured moves out of the view range of the OpenMV camera, the device waits for another object to be measured to enter the view range of the OpenMV camera, and the steps from S4 to S7 are repeatedly executed.

Technical Field

The present invention relates to a positioning and measuring device for an object and a control method thereof, and more particularly, to a positioning and measuring device for a moving object and a control method thereof.

Background

Currently, in dimension detection of products, the most commonly used detection tools are contact measurement tools such as a micrometer, a vernier caliper, and a micrometer, or non-contact measurement tools such as a projector and a quadratic element measurer, so as to measure the dimension of an object and determine whether the dimension and the shape of the object meet the requirements of drawings.

These contact measurement means have low measurement accuracy and slow measurement speed, and are only suitable for measuring stationary objects. When measuring a moving object, the measuring instrument is easily damaged, and the surface of the object to be measured is easily damaged, so that the requirements of large-scale automatic production and nondestructive testing cannot be met. The non-contact measuring tools such as projectors and quadratic element measuring instruments are not suitable for measuring moving objects even though the measuring precision is high, and the instruments are complex to use and operate, inconvenient to carry and install and expensive in price.

The invention combines and reforms the existing laser ranging technology, ultrasonic ranging technology and image processing technology, and provides a non-contact object positioning and measuring device and a control method thereof. The laser ranging technology and the ultrasonic ranging technology are both precise measurement technologies, and have the advantages of long measurement range, high measurement precision and the like; the image processing technology can be used for object measurement and automatic tracking and positioning of moving objects. Therefore, the device has the advantages of high measurement precision, high measurement efficiency and convenience in carrying and installation.

Disclosure of Invention

The invention aims to provide a non-contact object positioning and measuring device and a control method thereof, which can automatically and rapidly and accurately position a target object, automatically measure the size of the object, overcome the problems of complex operation, overlarge volume, high manufacturing cost and the like of the conventional measuring instrument, and realize the purposes of simple operation, convenient carrying and easy installation.

In order to achieve the purpose, the invention adopts the following technical scheme:

a non-contact object positioning and measuring device comprises an OpenMV camera, a laser ranging module, a power supply of the laser ranging module, an ultrasonic ranging module, a two-dimensional cradle head, a device platform, a master control MCU module, an OLED display screen and a power supply module, wherein the OpenMV camera, the laser ranging module, the power supply of the laser ranging module and the ultrasonic ranging module are all installed on the two-dimensional cradle head, and the two-dimensional cradle head, the master control MCU module, the display screen and the power supply module are all installed on the device platform; the OpenMV camera, the laser ranging module, the ultrasonic ranging module and the display screen are electrically connected with an interface of the master control MCU module.

The device platform is a step-shaped box-shaped support which is provided with a high table surface and a low table surface, and the surface of the device platform is coated with a layer of leather material.

The two-dimensional cradle head is installed on a higher table top of the device platform, the master control MCU module and the display screen are installed on a lower table top of the device platform, and the power supply module is installed inside the device platform.

The display screen is a touch operation display screen, and touch operation keys are arranged on the display screen.

The two-dimensional cradle head is composed of a base, a horizontal direction rotating steering engine, a vertical direction rotating steering engine and a vertical steering engine output arm.

The laser ranging module, the power supply thereof and the ultrasonic ranging module are installed on the OpenMV camera, the laser power supply is installed on the upper portion of the OpenMV camera, and the laser ranging module and the ultrasonic ranging module are both installed on the front panel of the OpenMV camera.

A control method based on a non-contact object positioning and measuring device comprises a manual control mode and an automatic control mode:

the manual control mode comprises the following steps:

s1, placing the measured object right in front of the positioning and measuring device, wherein the OpenMV camera of the positioning and measuring device acquires the shape and size information of the measured object, and the laser ranging module and the ultrasonic ranging module acquire the distance value information between the device and the measured object;

s2, after a touch operation key for starting measurement on the touch display screen is pressed, the main control MCU module starts to process the relation between the distance between the measured object and the device and the pixel points, and the information such as the size of the measured object is calculated more accurately by using the distance as a reference standard and the pixel points as the size after deformation by using a well-fitted algorithm;

and S3, after the measurement is finished, the device gives out sound and light prompts, and information such as the shape, the size and the like of the measured object is displayed on a display screen.

The control method of the automatic control mode comprises the following steps:

s4, the conveyor belt conveys the measured object to the visible range of the OpenMV camera of the positioning and measuring device, at the moment, the OpenMV camera acquires the coordinate information of the measured object, and after the coordinate information is processed by the main control MCU module, the two-dimensional cradle head automatically rotates by an angle and autonomously tracks the measured object until the light spot of the laser light source coincides with the central point of the measured object;

s5, when the light spot of the laser light source is superposed with the central point of the measured object, the OpenMV camera of the positioning and measuring device acquires the shape information and the pixel data of the measured object, and the laser ranging module and the ultrasonic ranging module acquire the distance data between the device and the measured object;

s6, the main control MCU module starts to process the relation between the distance between the measured object and the device and the pixel points, and the information such as the size of the measured object is calculated more accurately by using the fitted algorithm and taking the distance as a reference standard and the pixel points as the size after deformation;

s7, after the measurement is finished, the device gives out sound and light prompts, and information such as the shape, the size and the like of the measured object is displayed on a display screen;

and S8, after the object to be measured moves out of the view range of the OpenMV camera, the device waits for another object to be measured to enter the view range of the OpenMV camera, and the steps from S4 to S7 are repeatedly executed.

Compared with the prior art, the invention has the beneficial effects that:

1. the positioning and measuring device disclosed by the invention adopts a non-contact measuring mode, so that secondary damage caused by touch of a product in the detection process is avoided;

2. the positioning and measuring device has higher measuring efficiency than the traditional measuring means, and particularly can automatically measure the products on the conveyor belt, thereby effectively improving the detection efficiency of industrial products;

3. the positioning and measuring device is convenient to carry and mount, and is low in manufacturing cost.

Drawings

Fig. 1 is a schematic view of the overall structure of the positioning and measuring device of the present invention.

Fig. 2 is a block diagram of a measurement and control system of the positioning and measuring device of the present invention.

Fig. 3 is an electrical diagram of a main control MCU module of the measurement and control system.

Fig. 4 is an electrical diagram of an OpenMV camera interface of the measurement and control system.

Fig. 5 is an electrical diagram of a laser ranging module interface of the measurement and control system.

Fig. 6 is an electrical diagram of an ultrasonic ranging module interface of the measurement and control system.

Fig. 7 is an electrical diagram of a display screen interface of the measurement and control system.

Fig. 8 is an electrical diagram of an interface of a steering engine of the two-dimensional pan/tilt head.

In the figure: the system comprises a device platform, a 2-two-dimensional cradle head, a 3-OpenMV camera, a 4-laser power supply, a 5-ultrasonic ranging module, a 6-laser ranging module, a 7-main control MCU module and an 8-display screen.

Detailed Description

The following detailed description of the present invention will be made with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of the overall structure of the positioning and measuring device of the present invention.

A non-contact object positioning and measuring device comprises an OpenMV camera 3, a laser ranging module 6, a power supply 4 of the laser ranging module, an ultrasonic ranging module 5, a two-dimensional cradle head 2, a device platform 1, a master control MCU module 7, a display screen 8 and a power supply module, wherein the OpenMV camera 3, the laser ranging module 6 and the ultrasonic ranging module 5 are all installed on the two-dimensional cradle head 2, and the two-dimensional cradle head 2, the master control MCU module 7, the display screen 8 and the power supply module are all installed on the device platform 1; the OpenMV camera 3, the laser ranging module 6, the ultrasonic ranging module 5 and the display screen 8 are electrically connected with an interface of the main control MCU module 7.

The device platform 1 is a step-shaped box-shaped support and is provided with a high table board and a low table board, and the surface of the device platform is coated with a layer of leather material.

The two-dimensional cradle head 2 is arranged on a higher table top of the device platform 1, the main control MCU module 7 and the display screen 8 are arranged on a lower table top of the device platform 1, and the power supply module is arranged inside the device platform 1.

The display screen 8 is a touch type operation display screen, and a touch type operation key is arranged on the display screen.

The two-dimensional pan-tilt 2 is composed of a base, a horizontal direction rotary steering engine, a vertical direction rotary steering engine and a vertical steering engine output arm.

Laser rangefinder module 6 and power 4, ultrasonic ranging module 5 install on OpenMV camera 3, laser power 4 installs on OpenMV camera 3's upper portion, laser rangefinder module 6 and ultrasonic ranging module 5 all install on OpenMV camera 3's front portion panel.

The main control MCU module 7 of the positioning and measuring device adopts an STM32F103RC microprocessor, the OpenMV camera 3 adopts OPENMV 4H 7 Cam (an STM32H7 processor and an OV7725 camera), the ultrasonic ranging module 5 adopts an US-100 ultrasonic module, the laser ranging module 6 adopts a VL53L1X laser ranging module, and the two-dimensional tripod head 2 adopts a DS3230 digital steering engine

A control method based on a non-contact object positioning and measuring device comprises a manual control mode and an automatic control mode:

the manual control mode comprises the following steps:

s1, placing the measured object right in front of the positioning and measuring device, wherein the OpenMV camera 3 of the positioning and measuring device acquires the shape and size information of the measured object, and the laser ranging module 6 and the ultrasonic ranging module 5 acquire the distance value information between the device and the measured object;

s2, after the touch operation key for starting measurement on the touch display screen 8 is pressed, the main control MCU module 7 starts to process the relation between the distance between the measured object and the device and the pixel points, and the information such as the size of the measured object is calculated more accurately by using the fitted algorithm and taking the distance as a reference standard and the pixel points as the size after deformation;

and S3, after the measurement is finished, the device gives out sound and light prompts, and the information such as the shape, the size and the like of the measured object is displayed on the display screen 8.

The control method of the automatic control mode comprises the following steps:

s4, the conveyor belt conveys the measured object to the visible range of the OpenMV camera 3 of the positioning and measuring device, at the moment, the OpenMV camera 3 acquires the coordinate information of the measured object, and after the coordinate information is processed by the main control MCU module 7, the two-dimensional cradle head 2 automatically rotates for an angle to automatically track the measured object until the light spot of the laser light source coincides with the central point of the measured object;

s5, when the light spot of the laser light source coincides with the central point of the measured object, the OpenMV camera 3 of the positioning and measuring device acquires the shape information and the pixel data of the measured object, and the laser ranging module 6 and the ultrasonic ranging module 5 acquire the distance data between the device and the measured object;

s6, the main control MCU module 7 starts to process the relation between the distance between the measured object and the device and the pixel points, and the information such as the size of the measured object is calculated more accurately by using the fitted algorithm and taking the distance as a reference standard and the pixel points as the size after deformation;

s7, after the measurement is finished, the device gives out sound and light prompts, and information such as the shape, the size and the like of the measured object is displayed on the display screen 8;

s8, after the object to be tested moves out of the view range of the OpenMV camera 3, the device waits for another object to be tested to enter the view range of the OpenMV camera 3, and repeats steps S4 to S7.

Compared with the prior art, the invention has the beneficial effects that:

1. the positioning and measuring device disclosed by the invention adopts a non-contact measuring mode, so that secondary damage caused by touch of a product in the detection process is avoided;

2. the positioning and measuring device has higher measuring efficiency than the traditional measuring means, and particularly can automatically measure the products on the conveyor belt, thereby effectively improving the detection efficiency of industrial products;

3. the positioning and measuring device is convenient to carry and mount, and is low in manufacturing cost.