CN105606766B - One kind is based on bionic analogue means and the method for flicking the ash off a cigarette - Google Patents
One kind is based on bionic analogue means and the method for flicking the ash off a cigarette Download PDFInfo
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- CN105606766B CN105606766B CN201510969743.4A CN201510969743A CN105606766B CN 105606766 B CN105606766 B CN 105606766B CN 201510969743 A CN201510969743 A CN 201510969743A CN 105606766 B CN105606766 B CN 105606766B
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- 235000019504 cigarettes Nutrition 0.000 title claims abstract description 81
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000001133 acceleration Effects 0.000 claims abstract description 10
- 238000000354 decomposition reaction Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 abstract description 5
- 238000012360 testing method Methods 0.000 abstract description 5
- 230000005611 electricity Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000000391 smoking effect Effects 0.000 description 2
- 241000208125 Nicotiana Species 0.000 description 1
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
-
- 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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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Medicinal Chemistry (AREA)
- Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Apparatus Associated With Microorganisms And Enzymes (AREA)
- Manufacturing Of Cigar And Cigarette Tobacco (AREA)
Abstract
The invention discloses one kind to be based on bionic flick the ash off a cigarette analogue means and method, belongs to test and analysis field, including front end data acquisition part, control section and action executing part；The front end data acquisition part includes industrial camera, and the control section includes processor, and the action executing part includes servomotor；Bionic finger is provided with the rotary shaft of the servomotor, the servomotor is fixed on motor fixing frame, and motor fixing frame is arranged on support frame, and support frame is arranged on base, and the cigarette fixture of fixed cigarette is provided with base.The present invention catches smoker using machine vision and flicked the ash off a cigarette action, smoker is obtained by processor and plays the information such as startup/stopping speed of cigarette finger, startup/acceleration at stall, the speed of service, running position, by controlling servomotor to drive bionic finger to complete the action that flicks the ash off a cigarette, it is easy to fall cigarette during flicking the ash off a cigarette the test and analysis of head.
Description
Technical field
The invention belongs to fall test and the analysis field of head to cigarette during flicking the ash off a cigarette, and in particular to one kind is based on imitative
Raw flick the ash off a cigarette analogue means and the method learned.
Background technology
The reason for the easily causing cigarette and falling head, cause this phenomenon that to cigarette flick the ash off a cigarette in smoking process has more
Kind, such as tobacco density distribution, humidity, manufacture craft, the action that real simulation smoker flicks the ash off a cigarette, which turns into, analyzes these reasons
Premise.Bionics is that some behavior acts, structure function or the operation principle of animal body are transplanted in engineering technology to be used for
The exploitation of product is analyzed with theoretical research, is the new technique developed in recent years.Machine vision is as bionic one
Point, using cameras capture image information, engineering machinery service is optimized for by the processing of algorithm.Smoking is captured using machine vision
The action that person's finger flicks the ash off a cigarette, system carry out processing and smoker's finger is calculated plays the information such as the speed of cigarette, acceleration downwards,
Final control servomotor driving bionic finger simulating smoker's are flicked the ash off a cigarette.
The content of the invention
For above-mentioned technical problem present in prior art, the present invention proposes one kind and is based on the bionic mould that flicks the ash off a cigarette
Intend device and method, reasonable in design, the action message to be flicked the ash off a cigarette using machine vision capture smoker, control servomotor driving
Bionic finger completes the action that flicks the ash off a cigarette.
To achieve these goals, the present invention adopts the following technical scheme that：
One kind is based on the bionic analogue means that flicks the ash off a cigarette, including front end data acquisition part, control section and action
Executable portion；The front end data acquisition part includes industrial camera, and the control section is using processor as core, the action
Executable portion includes servomotor；The industrial camera, processor, servomotor are sequentially connected by cable；The servo electricity
Bionic finger is provided with the rotary shaft of machine, the servomotor is fixed on motor fixing frame, and motor fixing frame is arranged on branch
On support, support frame is arranged on base, and the cigarette fixture of fixed cigarette is provided with base.
Preferably, the industrial camera is connected by camera cable with processor, and the processor passes through servomotor electricity
Cable connects with servomotor.
Preferably, the processor using single-chip microcomputer, field programmable gate array, any one in DSP or its
Any combination.
In addition, the present invention, it is also mentioned that one kind is based on the bionic analogy method that flicks the ash off a cigarette, this method uses described one kind
Based on the bionic analogue means that flicks the ash off a cigarette, carry out in accordance with the following steps：
Step 1：Smoker is captured by industrial camera in front end data acquisition part to flick the ash off a cigarette action message；
Step 2：The action message that flicked the ash off a cigarette by the processor in control section to smoker processing；
Step 3：Bionic finger is driven to perform the action that flicks the ash off a cigarette by the servomotor in action executing part.
Preferably, in step 1, specifically include
Step 1.1：Industrial camera acts the finger bullet cigarette captured, is decomposed into 5 actions；
Step 1.2：5 finger bullet cigarettes of decomposition are acted and sent by camera cable to processor by industrial camera.
Preferably, in step 2, specifically include
Step 2.1：Finger is calculated to the range information of horizontal cigarette by processor, is designated as S1, S2, S3, S4 respectively
And S5；
Step 2.2：Startup/stopping speed of smoker's bullet cigarette finger is calculated according to formula (1), startup/stopping adds
Speed, the speed of service, running position information；
Wherein, a is startup/acceleration at stall, and V1 is toggle speed, and △ T are time interval, and △ S are running position；Step
2.3：Startup/stopping speed, startup/acceleration at stall, the speed of service, running position information are passed through servomotor electricity by processor
Cable is sent to servomotor.
Advantageous effects caused by the present invention：
The present invention proposes one kind and is based on bionic flick the ash off a cigarette analogue means and method, compared with prior art, a kind of
Based on bionic flick the ash off a cigarette analogue means and method, smoker is caught using machine vision and flicked the ash off a cigarette action, passes through processor
The action message that flicked the ash off a cigarette to smoker handle to obtain smoker play startup/stopping speed of cigarette finger, startup/acceleration at stall,
The information such as the speed of service, running position, by controlling servomotor to drive bionic finger to complete the action that flicks the ash off a cigarette, it is easy to playing cigarette
Fall the test and analysis of head during ash to cigarette.
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.
The finger that Fig. 3 is the present invention flicks the ash off a cigarette movement decomposition schematic diagram.
Wherein, 1- hands；2- cigarettes；3- industrial cameras；4- camera cables；5- processors；6- servo motor cables；7- motors
Fixed mount；8- servomotors；9- bionic fingers；10- support frames；11- bases；12- fixes the cigarette fixture of cigarette.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail to the present invention：
As shown in figure 1, a kind of be based on the bionic analogue means that flicks the ash off a cigarette, mainly it is made up of three parts, one：Front end data
Collecting part, including industrial camera 3；Two：Control section, it is core with processor 5；Three：Action executing part, including servo electricity
Machine 8.
Front end data acquisition part captures smoker by industrial camera 3 and flicked the ash off a cigarette action message；Control section passes through place
Reason device 5 action message that flicked the ash off a cigarette to smoker handles to obtain that smoker plays startup/stopping speed of cigarette finger, startup/stopping adds
The information such as speed, the speed of service, running position；Action executing part drives bionic finger to perform and flicked the ash off a cigarette by servomotor 8
Action.
Wherein processor can be realized using any one following mode, one) using single-chip microcomputer as core；Two) can with scene
Programmed logic gate array is classified as core；Three) using DSP as core；Four) any combination of above device is core.
In fig. 2, the cigarette fixture 12 of fixed cigarette 2 is installed on the pedestal 11, and support frame 10 is installed on the pedestal 11, electricity
Machine fixed mount 7 is arranged on support frame 10, and servomotor 8 is fixed on motor fixing frame 7, and bionic finger 9 is installed to servomotor 8
Rotary shaft on, industrial camera 3 is connected to processor 5 by camera cable 4, and processor 5 is connected to by servo motor cable 6
Servomotor 8.
In figure 3, industrial camera 3 shoots in one's hands 1 action for playing cigarette 2, is broken down into 5 actions.
Processor 5 analyzes and processes to this 5 action messages, calculates finger to the range information S of horizontal cigarette, divides
Not Wei S1, S2, S3, S4 and S5, each action correspond to T at different moments and instantaneous velocity V.Action 1 is to start the action that flicks the ash off a cigarette,
V1=0, T1=0；5 are acted as the tenth skill that flicks the ash off a cigarette, V5=0.
According to below equation：
Speed and acceleration information corresponding to this 5 actions is calculated in processor 5, and final output is driven to servomotor 8
Dynamic bionic finger 9 performs the action to flick the ash off a cigarette.
One kind of the invention is based on bionic flick the ash off a cigarette analogue means and method, and catching smoker using machine vision plays cigarette
Ash action, the action message that flicked the ash off a cigarette by processor to smoker handle to obtain smoker play cigarette finger startup/stopping speed,
The information such as startup/acceleration at stall, the speed of service, running position, by controlling servomotor to drive bionic finger to complete to play cigarette
Ash action, is easy to fall cigarette during flicking the ash off a cigarette the test and analysis of head.
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made in the essential scope of the present invention, it should also belong to the present invention's
Protection domain.
Claims (3)
1. one kind is based on the bionic analogy method that flicks the ash off a cigarette, it is characterised in that：The bionic mould that flicks the ash off a cigarette is based on using one kind
Intend device, it includes front end data acquisition part, control section and action executing part；The front end data acquisition part bag
Industrial camera is included, the control section includes processor, and the action executing part includes servomotor；The industrial camera,
Processor, servomotor are sequentially connected by cable；Bionic finger, the servo are provided with the rotary shaft of the servomotor
Motor is fixed on motor fixing frame, and motor fixing frame is arranged on support frame, and support frame is arranged on base, is set on base
There is the cigarette fixture that cigarette can be fixed on below bionic finger；Specifically carry out in accordance with the following steps：
Step 1：Smoker is captured by industrial camera in front end data acquisition part to flick the ash off a cigarette action message；
Step 2：The action message that flicked the ash off a cigarette by the processor in control section to smoker processing；
Step 3：Bionic finger is driven to perform the action that flicks the ash off a cigarette by the servomotor in action executing part.
2. according to claim 1 be based on the bionic analogy method that flicks the ash off a cigarette, it is characterised in that：
In step 1, specifically include
Step 1.1：Industrial camera acts the finger bullet cigarette captured, is decomposed into 5 actions；
Step 1.2：5 finger bullet cigarettes of decomposition are acted and sent by camera cable to processor by industrial camera.
3. according to claim 2 be based on the bionic analogy method that flicks the ash off a cigarette, it is characterised in that：
In step 2, specifically include
Step 2.1：Processor calculates finger to the range information of horizontal cigarette respectively according to 5 of decomposition actions, remembers respectively
For S1, S2, S3, S4 and S5；
Step 2.2：According to formula (1) be calculated smoker play startup/stopping speed of cigarette finger, startup/acceleration at stall,
The speed of service, running position information；
<mrow>
<mi>&Delta;</mi>
<mi>S</mi>
<mo>=</mo>
<mi>V</mi>
<mn>1</mn>
<mo>*</mo>
<mi>&Delta;</mi>
<mi>T</mi>
<mo>+</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mo>*</mo>
<mi>a</mi>
<mo>*</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>&Delta;</mi>
<mi>T</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, a is startup/acceleration at stall, and V1 is startup/stopping speed, and △ T are time interval, and △ S are running position；
Step 2.3：Processor is by startup/stopping speed, startup/acceleration at stall, the speed of service, running position information by watching
Motor cable is taken to send to servomotor.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
|---|---|
| CN105606766A CN105606766A (en) | 2016-05-25 |
| CN105606766B true CN105606766B (en) | 2017-12-01 |
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| CN201510969743.4A Active 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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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3734289A4 (en) * | 2017-12-29 | 2021-08-25 | Zhengzhou Tobacco Research Institute of CNTC | Fully-automatic multi-channel detection apparatus for butt falling trend of cigarette, and detection method |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106442901B (en) * | 2016-12-16 | 2018-11-20 | 中国电子科技集团公司第四十一研究所 | A kind of appliance for releasing single cigarette apparatus for ash |
| 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 |
| 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 |
| CN111426792A (en) * | 2020-04-20 | 2020-07-17 | 云南中烟工业有限责任公司 | Mechanical arm for simulating whole process of smoking cigarettes and simulation method thereof |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE19854008C2 (en) * | 1998-11-12 | 2001-04-26 | Reemtsma H F & Ph | Inhalable aerosol delivery system |
| CN102937639B (en) * | 2012-11-06 | 2015-05-20 | 上海烟草集团有限责任公司 | Detection device for cigarette end falling |
| CN103257212B (en) * | 2013-06-08 | 2015-07-29 | 中国烟草总公司郑州烟草研究院 | A kind of utilize rotation mode detect cigarette fall head tendency device |
| CN203460183U (en) * | 2013-08-17 | 2014-03-05 | 刘发永 | Self-vision bionic robot |
| CN104489917B (en) * | 2014-10-28 | 2016-02-03 | 云南中烟工业有限责任公司 | A kind ofly detect the device and using method thereof that cigarette turns around |
| CN204274728U (en) * | 2014-11-26 | 2015-04-22 | 丹阳假肢厂有限公司 | Bionic hand forefinger |
| CN105049575A (en) * | 2015-08-20 | 2015-11-11 | 工业和信息化部电信研究院 | Mobile phone temperature and power consumption detection experimental system and detection method thereof |
| CN105150188A (en) * | 2015-10-10 | 2015-12-16 | 花茂盛 | System and method for controlling actions of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3734289A4 (en) * | 2017-12-29 | 2021-08-25 | Zhengzhou Tobacco Research Institute of CNTC | Fully-automatic multi-channel detection apparatus for butt falling trend of cigarette, and detection method |
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