CN105606766A - Ash flicking simulation device and method based on bionics - Google Patents
Ash flicking simulation device and method based on bionics Download PDFInfo
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- CN105606766A CN105606766A CN201510969743.4A CN201510969743A CN105606766A CN 105606766 A CN105606766 A CN 105606766A CN 201510969743 A CN201510969743 A CN 201510969743A CN 105606766 A CN105606766 A CN 105606766A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000004088 simulation Methods 0.000 title abstract description 5
- 235000001968 nicotinic acid Nutrition 0.000 title abstract description 3
- 235000019504 cigarettes Nutrition 0.000 claims abstract description 74
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 31
- 230000001133 acceleration Effects 0.000 claims abstract description 10
- 238000012545 processing Methods 0.000 claims description 7
- UAJUXJSXCLUTNU-UHFFFAOYSA-N pranlukast Chemical compound C=1C=C(OCCCCC=2C=CC=CC=2)C=CC=1C(=O)NC(C=1)=CC=C(C(C=2)=O)C=1OC=2C=1N=NNN=1 UAJUXJSXCLUTNU-UHFFFAOYSA-N 0.000 claims 1
- 229960004583 pranlukast Drugs 0.000 claims 1
- 238000004458 analytical method Methods 0.000 abstract description 5
- 238000012360 testing method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 2
- 229930188970 Justin Natural products 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000391 smoking effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0078—Testing material properties on manufactured objects
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Abstract
The invention discloses an ash flicking simulation device and method based on bionics, and belongs to the field of testing and analysis. The ash flicking simulation device comprises a front-end data acquisition part, a control part and an action execution part, wherein the front-end data acquisition part comprises an industrial camera; the control part comprises a processor; the action execution part comprises a servo motor; bionic fingers are arranged on a rotary shaft of the servo motor, the servo motor is fixed to a motor fixing frame, the motor fixing frame is mounted on a support frame, the support frame is mounted on a base, and a cigarette clamp for fixing a cigarette is arranged on the base. The ash flicking simulation device adopts machine vision to capture an ash flicking action of a cigarette smoker, obtains information including the starting/stopping speed, starting/stopping acceleration, operation speed, operation position and the like of ash flicking fingers of the cigarette smoker by the processor, and drives the bionic fingers to complete the ash flicking action by controlling the servo motor, therefore, the cigarette falling head is conveniently tested and analyzed in an ash flicking process.
Description
Technical field
The invention belongs in the process of flicking the ash off a cigarette cigarette fall test and the analysis field of head, be specifically related to a kind of based on bionicAnalogue means and method flick the ash off a cigarette.
Background technology
In smoking process, cigarette is flicked the ash off a cigarette and easily causes the cigarette head that falls, cause the reason of this phenomenon to have multiple, as cigaretteSilk Density Distribution, humidity, manufacture craft etc., the action that real simulation smoker flicks the ash off a cigarette becomes the prerequisite of analyzing these reasons.Bionics is that some behavior acts, structure function or the operation principle of animal body are transplanted to the exploitation for product in engineeringWith theoretical research analysis, it is a new technique of development in recent years. Machine vision, as a bionic part, is utilized cameraCatch image information, be optimized for engineering machinery service by the processing of algorithm. Utilizing machine vision to catch smoker's finger flicks the ash off a cigaretteAction, system is processed the information such as speed, acceleration that calculates smoker and point downward bullet cigarette, finally controls servoMotor drives bionic finger simulating smoker's to flick the ash off a cigarette.
Summary of the invention
For the above-mentioned technical problem existing in prior art, the present invention proposes a kind of based on the bionic analogue means that flicks the ash off a cigaretteAnd method, reasonable in design, adopt machine vision to catch the action message that smoker flicks the ash off a cigarette, control driven by servomotor bionic handAction has referred to flick the ash off a cigarette.
To achieve these goals, the present invention adopts following technical scheme:
A kind of based on the bionic analogue means that flicks the ash off a cigarette, comprise front end data acquisition part, control section and action executing portionPoint; Described front end data acquisition part comprises industrial camera, and described control section is taking processor as core, described action executing portionDivide and comprise servomotor; Described industrial camera, processor, servomotor connect successively by cable; Turning of described servomotorOn moving axis, be provided with bionic finger, described servomotor is fixed on motor fixing frame, and motor fixing frame is arranged on bracing frame,Bracing frame is arranged on base, is provided with the cigarette fixture of fixing cigarette on base.
Preferably, described industrial camera is connected with processor by phase electric cable, described processor by servomotor cable with watchTaking motor connects.
Preferably, in described processor adopting single-chip microcomputer, field programmable gate array, DSP any one or its anyCombination.
In addition, the present invention also mentions a kind of based on the bionic analogy method that flicks the ash off a cigarette, and the method adopts described one based on imitativeThe raw analogue means that flicks the ash off a cigarette of learning, carries out in accordance with the following steps:
Step 1: catch smoker's action message that flicks the ash off a cigarette by the industrial camera in front end data acquisition part;
Step 2: by the processor in control section to smoker's action message processing that flicks the ash off a cigarette;
Step 3: carry out the action that flicks the ash off a cigarette by the driven by servomotor bionic finger in action executing part.
Preferably, in step 1, specifically comprise
Step 1.1: industrial camera, by the finger bullet cigarette action capturing, is decomposed into 5 actions;
Step 1.2: industrial camera plays cigarette action by 5 fingers that decompose and is sent to processor by phase electric cable.
Preferably, in step 2, specifically comprise
Step 2.1: calculate finger to the range information of horizontal cigarette by processor, be designated as respectively S1, S2, S3, S4 andS5；
Step 2.2: according to formula (1) calculate start/stop speed that smoker plays cigarette finger, start/stop acceleration,The speed of service, run location information;
Wherein, V1 is toggle speed, and △ T is the time interval;
Step 2.3: processor is crossed start/stop speed, start/stop acceleration, the speed of service, run location information exchange to watchTake motor cable and be sent to servomotor.
The useful technique effect that the present invention brings:
The present invention proposes a kind of based on bionic analogue means and the method for flicking the ash off a cigarette, compared with prior art, a kind of based on imitativeRaw flick the ash off a cigarette analogue means and the method for learning, adopts machine vision to catch smoker's action that flicks the ash off a cigarette, by processor to smokerThe action message that flicks the ash off a cigarette processing obtain start/stop speed that smoker plays cigarette finger, start/stop acceleration, the speed of service,The information such as run location, complete by controlling driven by servomotor bionic finger the action that flicks the ash off a cigarette, and it is right to be convenient in the process of flicking the ash off a cigaretteCigarette fall head test and analysis.
Brief description of the drawings
Fig. 1 is a kind of theory diagram based on the bionic analogue means that flicks the ash off a cigarette of the present invention.
Fig. 2 is a kind of structural representation based on the bionic analogue means that flicks the ash off a cigarette of the present invention.
Fig. 3 is the finger of the present invention movement decomposition schematic diagram that flicks the ash off a cigarette.
Wherein, 1-hand; 2-cigarette; 3-industrial camera; 4-phase electric cable; 5-processor; 6-servomotor cable; 7-motorFixed mount; 8-servomotor; 9-bionic finger; 10-bracing frame; 11-base; The cigarette fixture of the fixing cigarette of 12-.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail:
As shown in Figure 1, a kind of based on the bionic analogue means that flicks the ash off a cigarette, mainly contain three part compositions, one: front end data is adoptedCollection part, comprises industrial camera 3; Two: control section, taking processor 5 as core; Three: action executing part, comprises and watchingTake motor 8.
Front end data acquisition part is caught smoker's action message that flicks the ash off a cigarette by industrial camera 3; Control section is by processor 5Smoker's action message processing that flicks the ash off a cigarette is obtained to smoker and plays start/stop speed, start/stop acceleration, the fortune of cigarette fingerThe information such as line speed, run location; Action executing part drives bionic finger to carry out the action that flicks the ash off a cigarette by servomotor 8.
Wherein processor can adopt following any one mode to realize, and one) taking single-chip microcomputer as core; Two) with field-programmableLogic gate array is core; Three) taking DSP as core; Four) any combination of above device is core.
In Fig. 2, the cigarette fixture 12 of fixing cigarette 2 is arranged on base 13, and bracing frame 10 is arranged on base 11,Motor fixing frame 7 is arranged on bracing frame 10, and servomotor 8 is fixed on motor fixing frame 7, and bionic finger 9 is installed to servoOn the turning cylinder of motor 8, industrial camera 3 is connected to processor 5 by phase electric cable 4, and processor 5 is by servomotor electricityCable 6 is connected to servomotor 8.
In Fig. 3, industrial camera 3 is taken the action of 1 bullet cigarette 2 in one's hands, is decomposed into 5 actions.
Processor 5 carries out analyzing and processing to these 5 action messages, calculates the range information S of finger to horizontal cigarette, respectivelyFor S1, S2, S3, S4 and S5, each action correspondence not T and instantaneous velocity V in the same time. Action 1 is moving for starting to flick the ash off a cigaretteMake V1=0, T1=0; Action 5 is the tenth skill that flicks the ash off a cigarette, V5=0.
According to following formula:
Processor 5 calculates these 5 speed and acceleration informations that action is corresponding, finally outputs to servomotor 8 and drives imitativeGreen hand refers to the action that 9 execution flick the ash off a cigarette.
One of the present invention is based on bionic analogue means and the method for flicking the ash off a cigarette, and adopts machine vision to catch smoker's action that flicks the ash off a cigarette,By processor, smoker's action message processing that flicks the ash off a cigarette is obtained to smoker and plays start/stop speed, the start/stop of cigarette fingerThe information such as acceleration, the speed of service, run location, complete by controlling driven by servomotor bionic finger the action that flicks the ash off a cigarette, justIn the process of flicking the ash off a cigarette to cigarette fall head test and analysis.
Certainly, above-mentioned explanation is not limitation of the present invention, and the present invention is also not limited in above-mentioned giving an example, the artVariation, remodeling, interpolation or replacement that technical staff makes in essential scope of the present invention, also should belong to protection of the present inventionScope.
Claims (6)
1. based on the bionic analogue means that flicks the ash off a cigarette, it is characterized in that: comprise front end data acquisition part, control sectionAnd action executing part; Described front end data acquisition part comprises industrial camera, and described control section comprises processor, described inAction executing part comprises servomotor; Described industrial camera, processor, servomotor connect successively by cable; Described watchingTake on the turning cylinder of motor and be provided with bionic finger, described servomotor is fixed on motor fixing frame, and motor fixing frame is arranged onOn bracing frame, bracing frame is arranged on base, is provided with the cigarette fixture that cigarette can be fixed on to bionic finger below on base.
2. according to claim 1 based on the bionic analogue means that flicks the ash off a cigarette, it is characterized in that: described industrial camera is logicalCross phase electric cable and be connected with processor, described processor is connected with servomotor by servomotor cable.
3. according to claim 1 based on the bionic analogue means that flicks the ash off a cigarette, it is characterized in that: described processor adoptingAny one or its any combination in single-chip microcomputer, field programmable gate array and DSP.
4. based on the bionic analogy method that flicks the ash off a cigarette, it is characterized in that: adopt one as claimed in claim 1 based onThe bionic analogue means that flicks the ash off a cigarette, carries out in accordance with the following steps:
Step 1: catch smoker's action message that flicks the ash off a cigarette by the industrial camera in front end data acquisition part;
Step 2: by the processor in control section to smoker's action message processing that flicks the ash off a cigarette;
Step 3: carry out the action that flicks the ash off a cigarette by the driven by servomotor bionic finger in action executing part.
5. according to claim 4 based on the bionic analogy method that flicks the ash off a cigarette, it is characterized in that:
In step 1, specifically comprise
Step 1.1: industrial camera, by the finger bullet cigarette action capturing, is decomposed into 5 actions;
Step 1.2: industrial camera plays cigarette action by 5 fingers that decompose and is sent to processor by phase electric cable.
6. according to claim 4 based on the bionic analogy method that flicks the ash off a cigarette, it is characterized in that:
In step 2, specifically comprise
Step 2.1: calculate finger to the range information of horizontal cigarette by processor, be designated as respectively S1, S2, S3, S4 andS5；
Step 2.2: according to formula (1) calculate start/stop speed that smoker plays cigarette finger, start/stop acceleration,The speed of service, run location information;
Wherein, V1 is toggle speed, and △ T is the time interval;
Step 2.3: processor is crossed start/stop speed, start/stop acceleration, the speed of service, run location information exchange to watchTake motor cable and be sent to servomotor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510969743.4A CN105606766B (en) | 2015-12-17 | 2015-12-17 | One kind is based on bionic analogue means and the method for flicking the ash off a cigarette |
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| CN201510969743.4A CN105606766B (en) | 2015-12-17 | 2015-12-17 | One kind is based on bionic analogue means and the method for flicking the ash off a cigarette |
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| CN105606766A true CN105606766A (en) | 2016-05-25 |
| CN105606766B CN105606766B (en) | 2017-12-01 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106442901A (en) * | 2016-12-16 | 2017-02-22 | 中国电子科技集团公司第四十研究所 | Automatic cigarette ash flicking device |
| CN106950338A (en) * | 2017-05-03 | 2017-07-14 | 中国烟草总公司郑州烟草研究院 | It is a kind of based on simulation people's attack cigarette ash drop behavioural characteristic cigarette fall head tendency detection method |
| CN107085075A (en) * | 2017-05-03 | 2017-08-22 | 中国烟草总公司郑州烟草研究院 | It is a kind of based on simulation people tap cigarette ash drop behavioural characteristic cigarette fall head tendency detection method |
| CN110146657A (en) * | 2019-06-10 | 2019-08-20 | 中国烟草总公司郑州烟草研究院 | A kind of method that evaluating cigarette falls head tendency |
| CN111402193A (en) * | 2018-12-30 | 2020-07-10 | 贵州中烟工业有限责任公司 | Method and related device for analyzing integrity of cigarette ash |
| CN111426789A (en) * | 2020-04-22 | 2020-07-17 | 云南中烟工业有限责任公司 | Smoking path simulation system based on manipulator |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108037300B (en) * | 2017-12-29 | 2019-10-29 | 中国烟草总公司郑州烟草研究院 | Fully-automatic multi-channel cigarette falls head tendency detection device and detection method |
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| CN106950338A (en) * | 2017-05-03 | 2017-07-14 | 中国烟草总公司郑州烟草研究院 | It is a kind of based on simulation people's attack cigarette ash drop behavioural characteristic cigarette fall head tendency detection method |
| CN107085075A (en) * | 2017-05-03 | 2017-08-22 | 中国烟草总公司郑州烟草研究院 | It is a kind of based on simulation people tap cigarette ash drop behavioural characteristic cigarette fall head tendency detection method |
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| CN107085075B (en) * | 2017-05-03 | 2019-07-05 | 中国烟草总公司郑州烟草研究院 | It is a kind of based on simulation people tap cigarette ash fall behavioural characteristic cigarette fall head tendency detection method |
| CN106950338B (en) * | 2017-05-03 | 2019-07-05 | 中国烟草总公司郑州烟草研究院 | It is a kind of based on simulation people's attack cigarette ash fall behavioural characteristic cigarette fall head tendency detection method |
| CN111402193A (en) * | 2018-12-30 | 2020-07-10 | 贵州中烟工业有限责任公司 | Method and related device for analyzing integrity of cigarette ash |
| CN111402193B (en) * | 2018-12-30 | 2023-07-25 | 贵州中烟工业有限责任公司 | Method and related device for soot integrity analysis |
| CN110146657A (en) * | 2019-06-10 | 2019-08-20 | 中国烟草总公司郑州烟草研究院 | A kind of method that evaluating cigarette falls head tendency |
| CN111426789A (en) * | 2020-04-22 | 2020-07-17 | 云南中烟工业有限责任公司 | Smoking path simulation system based on manipulator |
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