CN109230120A - It a kind of mechanical palms control method based on image recognition and takes book and puts book apparatus - Google Patents
It a kind of mechanical palms control method based on image recognition and takes book and puts book apparatus Download PDFInfo
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- CN109230120A CN109230120A CN201810864955.XA CN201810864955A CN109230120A CN 109230120 A CN109230120 A CN 109230120A CN 201810864955 A CN201810864955 A CN 201810864955A CN 109230120 A CN109230120 A CN 109230120A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/181—Segmentation; Edge detection involving edge growing; involving edge linking
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Robotics (AREA)
- Automation & Control Theory (AREA)
- Image Analysis (AREA)
Abstract
It the mechanical palms control method based on image recognition that the invention discloses a kind of and takes and book and puts book apparatus, the method includes obtaining picture, identification straight line, the inclined degree for calculating straight line and corresponding angle, adjust the angle of bookend and pick and place books using bookend；Described device includes controller, camera system, mechanical palms and steering engine, and the controller is connect with camera system, mechanical palms and steering engine respectively.The mechanical structure that control mechanical palms or bookend etc. are used to pick and place book accurately rotates by a certain angle, allow mechanical palms or bookend parallel with the books or position to be picked and placed, bookend is accurately inserted into the gap between books, completes to pick and place book operation.In short, through the invention, the angle for the mechanical structure that bookend etc. is used to pick and place book can match with putting for books, damage of the mechanical structure to books is avoided on the basis of accurately can pick and place book.The present invention is widely used in technical field of automation equipment.
Description
Technical field
The present invention relates to automation equipment field, especially a kind of mechanical palms control method based on image recognition and take
Book and put book apparatus.
Background technique
Currently, it is fast-developing with the large-scale library in society in the school, there is the lending of up to ten thousand books daily and gives back,
This is undoubtedly a huge burden, not only heavy workload, but also low efficiency for librarian.Manpower management is to books
Arrangement have hysteresis quality, greatly reduce library operation efficiency.
Intelligent robot of library can substitute manpower and be managed to books.Taking book on the shelf and putting book is books
The important link of management is that the physics of books management executes step.Existing robot pick and place books technology be using mechanical arm,
Mechanical palms or the pick-and-place book mechanical structure of other simulation manpowers need to develop control for books are picked and placed come what is realized
The control algolithm of these mechanical structures.
In existing technology, by setting coordinate, color tracking and to functions such as books bar code scans, machine can control
People reaches the bookshelf position that target books are placed/will be placed, and also can control mechanical palms and is raised or lowered to phase
The height answered, but the above process is the general positioning for completing mechanical palms.During taking book, the step of most critical
It is to be crawled out target books from book heap with mechanical palms, during putting book, the step of most critical is to use manipulator
Target books are put into book heap by the palm.And in actual application environment, the mostly all not all book of book heap and horizontal plane
" proper alignment " in vertical namely intuitive meaning, a part of usually book heap belongs to " proper alignment ", and part books
Be with " inclination " in the angled namely intuitive meaning of horizontal plane, or even having part books is to be parallel to the horizontal plane also just
It is " falling down " in intuitive meaning, while every book thickness in a book heap may be different, it is universal in these reality
There are the problem of be all that mechanical palms take book and put the realization of book and bring difficulty.Book is taken at the two and puts the critical process of book
In, mechanical palms must be physically contacted with books, but in the prior art the posture of mechanical palms can not with it is " whole in book heap
The books matching of neat arrangement ", " inclination " and " falling down ", causes mechanical palms to operate by force and books is caused to damage.
Applicant has applied for that inventing a key name is " a kind of integrated mechanical palms of pick-and-place books " on August 1st, 2018
Patent of invention comprising a bookend being made of fixed baffle, flapper and butterfly hinge, the opening degree of bookend are
Adjustable, therefore can clamp the books of different-thickness to realize the function of taking book and put book, bookend and mechanical palms are whole
Translation and rotation can also be controlled by the steering engine of steering engine or outside inside mechanical palms.This mechanical palms have
General positioning function in the prior art, that is, the bookshelf institute that target books are placed/will be placed can be accurately arrived at
In position, it is raised or lowered to certain altitude then to reach corresponding bookshelf layer, then moves to target books in this layer of book
The position placed/will placed on frame.But under the control of existing control algolithm, there are still cannot be accurate for this mechanical palms
Adapt to book heap arranging situation and the problem of be easy to cause books to damage, need to be accurately controlled algorithm come to this mechanical palms into
Row control.
Summary of the invention
In order to solve the above-mentioned technical problem, the object of the invention is that providing a kind of mechanical palms control based on image recognition
It method and takes and book and puts book apparatus.
First technical solution adopted by the present invention is:
A kind of mechanical palms control method based on image recognition takes book, the mechanical palms for controlling mechanical palms
Including the bookend being made of first baffle and second baffle, for the bookend for clamping books, the control method includes following
Step:
It obtains and carries out horizontal shooting the first picture obtained for target book heap；The target book heap includes being taken out
Target books；
The boundary of target books is identified from the first picture and then first straight line is gone out by the edge fitting of target books；
First angle is calculated according to inclined degree of the first straight line in the first picture；
The tilt angle of bookend is adjusted to angle corresponding with first angle；
Target books are taken out from target book heap using through over-angle bookend adjusted.
Further, the boundary that target books are identified from the first picture and then the edge fitting by target books
It is to be carried out by Hough transformation the step for first straight line out.
Further, described that this step of first angle is calculated according to inclined degree of the first straight line in the first picture
Suddenly, it specifically includes:
Obtain coordinate of any two o'clock in first straight line in the first picture；
According to the coordinate of described two points, the slope of first straight line is calculated；
According to the slope of first straight line, first angle is calculated.
Further, the slope according to first straight line, the step for calculating first angle, formula used are as follows:
θ in formula1For first angle, (x1,x2) and (y1,y2) it is respectively any two o'clock in first straight line in the first picture
In coordinate,For the slope of first straight line.
Second technical solution adopted by the present invention is:
A kind of mechanical palms control method based on image recognition puts book, the mechanical palms for controlling mechanical palms
Including the bookend being made of first baffle and second baffle, for the bookend for clamping books, the control method includes following
Step:
Obtain the second picture for the shooting of target book heap level；The target book heap includes the books target to be put into
Position, the target position are the gap in the edge or target book heap of target book heap between two books；
Target position is identified from second picture and then second straight line is fitted by target position；
Second angle is calculated according to inclined degree of the second straight line in second picture；
The tilt angle of bookend is adjusted to angle corresponding with second angle；
Utilize target position books being put into through over-angle bookend adjusted in target book heap.
Further, it is described identified from second picture target position so that by target position fit second straight line this
One step is carried out by Hough transformation.
Further, the inclined degree according to second straight line in second picture calculates this step of second angle
Suddenly, it specifically includes:
Obtain coordinate of any two point in second straight line in second picture；
According to the coordinate of described two points, the slope of second straight line is calculated；
According to the slope of second straight line, second angle is calculated.
Further, the slope according to second straight line, the step for calculating second angle, formula used are as follows:
θ in formula2For second angle, (x3,x4) and (y3,y4) it is respectively any two point in second straight line in second picture
In coordinate,For the slope of second straight line.
Third technical solution adopted by the present invention is:
It is a kind of that book apparatus, including controller, camera system, mechanical palms and steering engine, the control are taken based on image recognition
Device processed is connect with camera system, mechanical palms and steering engine respectively；
The controller is for running program to execute control method described in the first technical solution；
The camera system is used to shoot the first picture for target book heap for controller processing；
The mechanical palms include the bookend being made of first baffle and second baffle, and the bookend is used to clamp books,
The bookend from target book heap for taking out target books under the control of the controller；
The steering engine is used under the control of the controller by the tilt angle of bookend or the tilt angle of mechanical palms entirety
It is adjusted to angle corresponding with first angle.
4th technical solution adopted by the present invention is:
It is a kind of that book apparatus, including controller, camera system, mechanical palms and steering engine, the control are put based on image recognition
Device processed is connect with camera system, mechanical palms and steering engine respectively；
The controller is for running program to execute control method described in the second technical solution；
The camera system is used for for target book heap shooting second picture for controller processing；
The mechanical palms include the bookend being made of first baffle and second baffle, and the bookend is used to clamp books,
The bookend is used for the target position being under the control of the controller put into books in target book heap；
The steering engine is used under the control of the controller by the tilt angle of bookend or the tilt angle of mechanical palms entirety
It is adjusted to angle corresponding with second angle.
The beneficial effects of the present invention are: control mechanical palms or bookend etc. are for picking and placing book by efficient control method
Mechanical structure accurately rotate by a certain angle, allow mechanical palms or bookend and the books or position to be picked and placed flat
Row, is inserted into bookend accurately in the gap between books, completes to pick and place book operation.In short, through the invention, book
The angle of the mechanical structure for picking and placing book such as folder can match with putting for books, on the basis of accurately can pick and place book
Avoid damage of the mechanical structure to books.
Detailed description of the invention
Fig. 1 is a kind of structure chart for picking and placing the integrated mechanical palms of books used in the method for the present invention；
Fig. 2 is a kind of schematic diagram that can apply book heap of the invention；
Fig. 3 is the flow chart of 1 method of embodiment；
Fig. 4 is the flow chart of 2 method of embodiment.
Specific embodiment
In addition patent of invention " a kind of pick-and-place books integration that applicant applies can be used in all embodiments of the invention
Mechanical palms " realize, but the present invention is not limited to use mechanical palms disclosed in above-mentioned patent document to realize.
A kind of structure of the integrated mechanical palms of pick-and-place books disclosed in above-mentioned patent document referring to Fig.1, be into
Row picks and places the book heap of book operation referring to Fig. 2.In practical application, more books stack book heap be all spine outwardly, so just
In pick-and-place, various embodiments of the present invention are illustrated so that robot and camera system are towards spine as an example, other stack mode
Book heap is also referred to be applicable in.It is contemplated that the present invention may be use with the situation that " the book heap " that only constitutes to a book is picked and placed.
In Fig. 1, the bookend clamping books that mechanical palms are made up of first baffle A and second baffle B, and first baffle A
It is tabular with second baffle B, therefore first baffle A and second baffle B can be inserted in the gap in book heap between each book,
To carry out taking book or put the operation of book.The method illustrated by following each embodiments, adjustable first baffle A and second
The tilt angle of baffle B, so that between first baffle A and second baffle B and the edge or books of the books to be picked and placed
Gap is parallel, so that first baffle A and second baffle B can smoothly clamp books and complete to pick and place the movement of books, keeps away
Exempt to cause books to damage because bookend tilt angle is inconsistent with books.
Embodiment 1
The present embodiment control method takes book for controlling mechanical palms, and referring to Fig. 3, the control method includes following step
It is rapid:
It obtains and carries out horizontal shooting the first picture obtained for target book heap；The target book heap includes being taken out
Target books；
The boundary of target books is identified from the first picture and then first straight line is gone out by the edge fitting of target books；
First angle is calculated according to inclined degree of the first straight line in the first picture；
The tilt angle of bookend is adjusted to angle corresponding with first angle；
Target books are taken out from target book heap using through over-angle bookend adjusted.
Preferably, spine one side and camera lens picture and ground level of the camera towards book heap, institute when shooting the first picture
It is as shown in Figure 2 to shoot the first picture come.
In target book heap shown in Fig. 2, the mechanical palms target books to be taken out are contained.Preferably, using suddenly
Husband's transformation handles the first picture, so as to which the Boundary Extraction of target books in the first picture is come in, further intends
First straight line is synthesized, the inclined degree of first straight line is just equal to the inclined degree of target books.Hough transformation is that one kind can be examined
The algorithm of discontinuous point boundary shape is surveyed, it is by transforming to parameter space for image coordinate, to realize the fitting of straight line and curve.
The inclined degree of first straight line is converted into being described with angle, to obtain first angle.According to first angle
The tilt angle of the bookend on mechanical arm is adjusted, it can so that bookend be parallel with the target books to be taken out, in turn
So that bookend can be inserted in the gap between target books and its side books, to smoothly take out books.
It is further used as preferred embodiment, it is described to be calculated according to inclined degree of the first straight line in the first picture
The step for first angle, specifically includes:
Obtain coordinate of any two o'clock in first straight line in the first picture；
According to the coordinate of described two points, the slope of first straight line is calculated；
According to the slope of first straight line, first angle is calculated.
It is further used as preferred embodiment, the slope according to first straight line calculates this step of first angle
Suddenly, formula used are as follows:
θ in formula1For first angle, (x1,x2) and (y1,y2) it is respectively any two o'clock in first straight line in the first picture
In coordinate,For the slope of first straight line.
In the present embodiment, can from selecting any two pixel in the first straight line in the first picture, with this two
The coordinate of a pixel calculates the corresponding first angle of first straight line.If the coordinate of two pixels extracted is respectively
(x1,x2) and (y1,y2), then first angle is just
In the case where the first picture is horizontal shooting, the first picture referential is earth reference system in fact, therefore the
One angle is the angular dimension that bookend should be formed with ground.The mechanical palms rotation where bookend or bookend is driven, is made
Bookend and ground angulation are equal to first angle, can be so that bookend be smoothly inserted into the gaps of target books Yu side books
In, and then complete that book is taken to operate.
Embodiment 2
The present embodiment control method puts book for controlling mechanical palms, referring to Fig. 4, comprising the following steps:
Obtain the second picture for the shooting of target book heap level；The target book heap includes the books target to be put into
Position, the target position are the gap in the edge or target book heap of target book heap between two books；
Target position is identified from second picture and then second straight line is fitted by target position；
Second angle is calculated according to inclined degree of the second straight line in second picture；
The tilt angle of bookend is adjusted to angle corresponding with second angle；
Utilize target position books being put into through over-angle bookend adjusted in target book heap.
What mechanical palms to be completed puts book operation, actually puts books into the gap between two books, or
Person is placed on the edge of book heap, therefore the edge in the gap or book heap between two books is the target position to be put into；And machine
Tool palm itself there are the books by target position both sides to push open to form the function of putting book space, it is therefore desirable to which what is done is adjustment
The angle of mechanical palms matches the direction of bookend with book heap edge or gap.
By Hough transformation, it can identify target position and convert thereof into the identical second straight line of inclined degree.Ginseng
According to 1 the method for embodiment, inclined degree of the second straight line in second picture can be calculated, so that second angle is obtained,
And then bookend or mechanical palms are integrally adjusted according to second angle.
Embodiment 3
The present embodiment is a kind of to take book apparatus, including controller, camera system, mechanical palms and rudder based on image recognition
Machine, the controller are connect with camera system, mechanical palms and steering engine respectively；
The controller is for running program to execute control method described in embodiment 1；
The camera system is used to shoot the first picture for target book heap for controller processing；
The mechanical palms include the bookend being made of first baffle and second baffle, and the bookend is used to clamp books,
The bookend from target book heap for taking out target books under the control of the controller；
The steering engine is used under the control of the controller by the tilt angle of bookend or the tilt angle of mechanical palms entirety
It is adjusted to angle corresponding with first angle.
The picture that controller is taken by obtaining camera system executes related program code to execute described in embodiment 1
Control method handled, and control signal is issued to mechanical palms and steering engine, to realize automatic book taking.
Wherein, steering engine may be mounted at the corresponding position in mechanical palms shown in Fig. 1, and steering engine is allowed individually to control
The rotation of one baffle A and second baffle B, to control the tilt angle of the bookend of first baffle A and second baffle B composition.?
Can by mechanical palms integral installation shown in Fig. 1 on steering engine, so that steering engine can control the rotation of mechanical palms entirety, thus
Control the tilt angle of bookend.
Camera system used in the present embodiment can be OpenMV.
Embodiment 4
The present embodiment is a kind of to put book apparatus, including controller, camera system, mechanical palms and rudder based on image recognition
Machine, the controller are connect with camera system, mechanical palms and steering engine respectively；
The controller is for running program to execute control method described in embodiment 2；
The camera system is used for for target book heap shooting second picture for controller processing；
The mechanical palms include the bookend being made of first baffle and second baffle, and the bookend is used to clamp books,
The bookend is used for the target position being under the control of the controller put into books in target book heap；
The steering engine is used under the control of the controller by the tilt angle of bookend or the tilt angle of mechanical palms entirety
It is adjusted to angle corresponding with second angle.
The realization of the present embodiment is referred to the explanation of embodiment 3 to carry out.
Embodiment 5
The present embodiment is illustrated controller used in embodiment 3 and embodiment 4 and camera system.In the present embodiment,
Use Arduino master control borad as controller, uses OpenMV camera as camera system.
The control method of Arduino master control borad: initially setting up structural body, the structural body include floating type array data and
Integer variable len is storage to data and the number for judging data respectively, initializes to steering engine, need to call #
This header file library include<Servo.h>, establishes SERVO CONTROL object servo_8.Call the attach interface letter in the library
Number, the function are used to set the interface of steering engine, such as No. 8 pins.Write () function in the library is called, the function is for setting
The rotation angle of steering engine, the angle that can be set are 0-180 degree.Steering engine is initialized, so that steering engine moves to initial angle.Then
Serial ports is configured, #include<SoftwareSerial.h>header file library is called, calls the begin () function in the library,
Realize that, in order to communicate with OpenMV, suction parameter is set as 115200 to the opening of serial ports.And call the library
Whether available () function, detection serial ports receive data, and when receiving data from OpenMV, available () value is big
In 0, judged with if sentence, when if () is true, execution getList (), which is used to collect data, stores data into number
In group, data mode that Arduino master control borad receives is { [x1, y1, x2, y3] }, call #include <
In read () function and #include<Arduino.h>header file library in SoftwareSerial.h>header file library
While () function reads a character receiving of serial ports, when receiving ' { ' character, while () function be it is false, jump out
While () circulation, otherwise waits always, calls in #include<SoftwareSerial.h>header file library
ReadStringUntil () function, the function are used to read the data of serial ports, until receiving ' } ', define a word at this time
S is accorded with, for storing the string data in { }, the variable str an of character types is re-defined, is recycled with for () to character string
Each character in s is handled, with length () function measurement character in #include<Arduino.h>header file library
The character number gone here and there in s is arranged an integer variable i, is set as 0, when i is less than the character number in character string s, execution for ()
Sentence in circulation, when receiving ' [' character, str is null character, and when the character received is not ' [", "] ', character is deposited
Storage defines the integer variable that one is 0, when receiving first ', ', by the toInt () letter of the character in Str in str
Number is converted into integer and stores into array, and it is null character that k, which becomes 1, str, similarly, when encountering second with third ', ', point
Cun Chu not be into array, at this point, the data stored in array are respectively x1, y1, x2, y2. is obtained by (y2-y1)=k (x2-x1)
Slope k obtains an angle by atan () function, and because being once equal to 57.29, is mostly multiplied with the angle and obtained in 57.29
The angle of the mechanical arm rotation defines a variable _ _ var__35282_24230 for storing the angle and uses write at this time
() function, respectively to 4 pin assignment, No. 8 pins are _ _ var__35282_24230, and No. 9 pins are that 90, No. 10 pins are
90, No. 11 pins are 90.Finally, memset () function in #include<string.h>header file library is called to empty array
Data in data, and the end () function in #include<SoftwareSerial.h>header file library is called to close serial ports.
The control method of OpenMV camera: this algorithm with python language realize, first have to OpenMV camera into
Row configuration, imports sensor module, is called to reset () function of sensor module, realizes at the beginning of OpenMV camera
Then beginningization configures the pixel format of OpenMV camera, call set_pixformat () function of sensor module, pixel
There are two types of formats, and one kind is RGB565 chromaticity diagram (every pixel 16), another is CRAYSCALE grayscale image (every pixel 8
Position).The invention is RGB565, so set_pixformat () function entrance parameter is sensor.RGB565, is then matched
The pixel size of OpenMV is set, set_framesize () function of sensor module is called, suction parameter has respectively
Sensor.QQVGA:160x120, sensor.QQVGA2:128x160, sensor.QVGA:320x240, sensor.QQCIF:
88x72, sensor.QCIF:176x144, sensor.CIF:352x288, the invention be resolution ratio is 320x240, i.e.,
QVGA, in order to allow arrangement above to play a role, calls the skip_ of sensor module so suction parameter is sensor.QVGA
Frames () function, suction parameter 10 skip 10 frames.In order to realize contacting for OpenMV camera and master control borad, import
UART (uart_idx, baud_rate) function of pyb module, suction parameter uart_idx is serial ports ID, because OpenMV is imaged
Head only has serial ports 3, so suction parameter uart_idx is 3, suction parameter baud_rate is baud rate, and the invention uses
The transmission rate of 115200baud/s.Then it is acquisition data, initializes an img object, for saving image, in order to
Obtain image, call sensor module snapshot () function, OpenMV acquire image be placed in img, in order to from
Image scanning goes out gap, calls find_lines () function of image module, suction parameter threshold, theta_
Margin, rho_margin, roi.`threshold` controls the straight line monitored from Hough transformation.It only returns and is greater than or waits
In the straight line of threshold value.The threshold value right value of application program depends on image.That is the pixel size of straight line is more than or equal to
1500.theta_margin is straight line angle, and rho_margin is linear radial, if scanning the straight line angle come and radius
Difference is less than marginal value, then merges two straight lines, is set as 25 pixels herein, and roi is the field of vision that color is arranged and identifies
Domain, roi are a tuples, and roi=(x, y, w, h) represents the width since left upper apex (x, y) as the rectangle region of a height of h of w
Domain, roi are defaulted as the whole image visual field if being not provided with, be set as (150,20,20,200), that is, central area herein,
A blobs object is initialized, for storing the information of straight line.It is recycled with a for, a sheet by a sheet image is handled, when
When the angle offset angle of straight line is less than 20 degree, the data of straight line are sent to master control borad, have used theta () function herein, are used
In measurement straight line angle, write () function, for writing data to serial ports.However, the data type of blobs storage is dict,
So dumps () function of json module is imported, for the data of dict type to be changed into str, because if directly will
It can report an error in the data write-in json file of dict type, therefore need to use the function when writing data into.
The present embodiment can be used as the programmed method in embodiment 1-4 implementation process to particular hardware.
The present invention can achieve following technical effect: by efficient control method, controlling mechanical palms or bookend etc. and uses
Accurately rotate by a certain angle in the mechanical structure for picking and placing book, allow mechanical palms or bookend and the books to be picked and placed or
Position is parallel, and bookend is accurately inserted into the gap between books, completes to pick and place book operation.In short, passing through this
The angle of invention, the mechanical structure that bookend etc. is used to pick and place book can match with putting for books, can accurately pick and place book
On the basis of avoid damage of the mechanical structure to books.
It is to be illustrated to preferable implementation of the invention, but the implementation is not limited to the invention above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of mechanical palms control method based on image recognition takes book, the mechanical palms packet for controlling mechanical palms
The bookend being made of first baffle and second baffle is included, the bookend is for clamping books, which is characterized in that the control method
The following steps are included:
It obtains and carries out horizontal shooting the first picture obtained for target book heap；The target book heap includes the mesh to be taken out
Bidding documents sheet；
The boundary of target books is identified from the first picture, and then first straight line is gone out by the edge fitting of target books；
First angle is calculated according to inclined degree of the first straight line in the first picture；
The tilt angle of bookend is adjusted to angle corresponding with first angle；
Target books are taken out from target book heap using through over-angle bookend adjusted.
2. a kind of mechanical palms control method based on image recognition according to claim 1, which is characterized in that it is described from
The step for identifying the boundary of target books in first picture, and then going out first straight line by the edge fitting of target books is logical
Cross Hough transformation progress.
3. a kind of mechanical palms control method based on image recognition according to claim 1, which is characterized in that described
The step for calculating first angle according to inclined degree of the first straight line in the first picture, specifically includes:
Obtain coordinate of any two o'clock in first straight line in the first picture；
According to the coordinate of described two points, the slope of first straight line is calculated；
According to the slope of first straight line, first angle is calculated.
4. a kind of mechanical palms control method based on image recognition according to claim 3, which is characterized in that described
According to the slope of first straight line, the step for calculating first angle, formula used are as follows:
θ in formula1For first angle, (x1,x2) and (y1,y2) it is respectively any two o'clock in first straight line in the first picture
Coordinate,For the slope of first straight line.
5. a kind of mechanical palms control method based on image recognition puts book, the mechanical palms packet for controlling mechanical palms
The bookend being made of first baffle and second baffle is included, the bookend is for clamping books, which is characterized in that the control method
The following steps are included:
Obtain the second picture for the shooting of target book heap level；The target book heap includes the books target position to be put into
It sets, the target position is the gap in the edge or target book heap of target book heap between two books；
Target position is identified from second picture and then second straight line is fitted by target position；
Second angle is calculated according to inclined degree of the second straight line in second picture；
The tilt angle of bookend is adjusted to angle corresponding with second angle；
Utilize target position books being put into through over-angle bookend adjusted in target book heap.
6. a kind of mechanical palms control method based on image recognition according to claim 5, which is characterized in that it is described from
Target position is identified in second picture so the step for second straight line is fitted by target position be by Hough transformation into
Capable.
7. a kind of mechanical palms control method based on image recognition according to claim 5, which is characterized in that described
The step for calculating second angle according to inclined degree of the second straight line in second picture, specifically includes:
Obtain coordinate of any two point in second straight line in second picture；
According to the coordinate of described two points, the slope of second straight line is calculated；
According to the slope of second straight line, second angle is calculated.
8. a kind of mechanical palms control method based on image recognition according to claim 7, which is characterized in that described
According to the slope of second straight line, the step for calculating second angle, formula used are as follows:
θ in formula2For second angle, (x3,x4) and (y3,y4) it is respectively any two point in second straight line in second picture
Coordinate,For the slope of second straight line.
9. a kind of take book apparatus based on image recognition, which is characterized in that including controller, camera system, mechanical palms and rudder
Machine, the controller are connect with camera system, mechanical palms and steering engine respectively；
The controller requires any one of the 1-4 control method for running program with perform claim；
The camera system is used to shoot the first picture for target book heap for controller processing；
The mechanical palms include the bookend being made of first baffle and second baffle, and the bookend is described for clamping books
Bookend from target book heap for taking out target books under the control of the controller；
The steering engine is under the control of the controller adjusting the tilt angle of the tilt angle of bookend or mechanical palms entirety
For angle corresponding with first angle.
10. a kind of put book apparatus based on image recognition, which is characterized in that including controller, camera system, mechanical palms and rudder
Machine, the controller are connect with camera system, mechanical palms and steering engine respectively；
The controller requires any one of the 5-8 control method for running program with perform claim；
The camera system is used for for target book heap shooting second picture for controller processing；
The mechanical palms include the bookend being made of first baffle and second baffle, and the bookend is described for clamping books
Bookend is used for the target position being under the control of the controller put into books in target book heap；
The steering engine is under the control of the controller adjusting the tilt angle of the tilt angle of bookend or mechanical palms entirety
For angle corresponding with second angle.
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| CN201810864955.XA CN109230120B (en) | 2018-08-01 | 2018-08-01 | Mechanical palm control method based on image recognition and book taking and placing device |
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