CN109795900A - A kind of flat grain method of Jing Ping robot - Google Patents
A kind of flat grain method of Jing Ping robot Download PDFInfo
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- CN109795900A CN109795900A CN201910099705.6A CN201910099705A CN109795900A CN 109795900 A CN109795900 A CN 109795900A CN 201910099705 A CN201910099705 A CN 201910099705A CN 109795900 A CN109795900 A CN 109795900A
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Abstract
The present invention discloses a kind of flat grain method of Jing Ping robot, Jing Ping robot includes host, slave and is connected between host and slave and scrapes grain machine structure, flat grain method include: S1, by Jing Ping robot host and Jing Ping robot slave in walkway board synchronous marching or stopping back and forth, drive, which is scraped grain machine structure and stroked, sweeps silo surface；S2, scrape grain machine structure by with walkway board direction shape angle in 90 ° and stroke sweep silo surface in a mobile manner, or scrape grain machine structure and stroked in rotary manner between walkway board and sweep silo surface；The traveling of grain machine structure is scraped in the drive of S3, Jing Ping robot, and the flag code of walkway board is set to by identification, is turned to and is moved back and forth；This method can be realized the do mechanization operation in flat grain region, mild-natured grain operation is repeated continuously from a flat grain region to another flat grain region by robot, avoid the inconvenience of artificial flat grain, it improves flat grain efficiency and reaches horizontal standard, silo is horizontal such as mirror surface after achieving the effect that flat grain.
Description
Technical field
The present invention relates to food storages and planarizing technique field, in particular to a kind of flat grain side of Jing Ping robot
Method.
Background technique
During foodstuff preservation, operation of closing a position is the basic demand of grain storage management, followed by lay cable for measuring temperature, this
Two kinds of operations are all made of manual operation completion.In recent years, government investment has built large quantities of central grain depots, these deposits
Mostly based on large storehouse and silo, food storage, means of transportation are mostly form that is in bulk and loading in bulk in library.China's intelligence
It closes a position the serious loss of impurity removing equipment, directly constrains the demand for development for promoting the equipment of parent company's storage technique, therefore answer
Accelerate the development work of key technology and relevant equipment of cleaning of closing a position.
Grain-levelling machine device people exclusively for grain surface in silo final flattening phase and design.Flat grain work is divided into two ranks
Section: just gentle essence is flat, Jing Ping robot be for the flat stage device therefor of essence, the equipment working effect be after making grain smooth such as
It is horizontal as mirror surface；Before operation, intersecting parallels aisle has been completed by rough smooth mistake in silo surface, and chassis exists
Intersecting parallels moves on aisle, and then robot is swept away under the operation effect on chassis and grain surface is swept in rotation, to reach grain
The flat effect of face essence.
The grain-levelling machine device people of the prior art only has the robot in thick flat stage, cannot be horizontal table by silo surfacing
Face, and track is inevitably left after the flat grain of Cu Ping robot, there are no effective essences at this stage, and flat, quick flat grain essence is flat
Robot, the flat grain method of Jing Ping robot also have to be developed.
Summary of the invention
The purpose of the present invention is to provide a kind of flat grain methods of Jing Ping robot, can be realized the machinery in flat grain region
It is turned into industry, mild-natured grain operation is repeated continuously from a flat grain region to another flat grain region by robot, avoids people
The inconvenience of the flat grain of work improves flat grain efficiency and reaches horizontal standard, reaches the effect horizontal such as mirror surface of silo after flat grain
Fruit.
The embodiment of the present invention is achieved in that
A kind of flat grain method of Jing Ping robot, Jing Ping robot include host, slave and be connected to host and slave it
Between scrape grain machine structure, flat grain method include: S1, by Jing Ping robot host and Jing Ping robot slave walkway board back and forth
Synchronous marching or stopping, drive, which is scraped grain machine structure and stroked, sweeps silo surface；S2, grain machine structure is scraped by forming angle with walkway board direction
And it strokes sweep silo surface in a mobile manner, or scrape grain machine structure and stroked in rotary manner between walkway board and sweep silo surface；
The traveling of grain machine structure is scraped in the drive of S3, Jing Ping robot, and is set to the flag code of walkway board by identification, turn to and back and forth
It is mobile；Further, the angle for scraping grain machine structure and the formation of walkway board direction is 90 °；Further, walkway board is with angle
The plate for being laid on silo surface；Further the angle of walkway board is 90 °.
In preferred embodiments of the present invention, above-mentioned flag code includes the first flag code, the second flag code and third label
When code, Jing Ping robot host or slave carry out S3, when recognizing the first flag code, Jing Ping robot rotates 180 ° and turns around, and knows
Turn left after other first flag code 2~10 times or turns right 90 °；When recognizing the second flag code, Jing Ping robot, which lifts, scrapes grain machine structure
Or it puts down and scrapes grain machine structure；When recognizing third flag code, Jing Ping robot is rotated by 90 °.
In preferred embodiments of the present invention, when above-mentioned Jing Ping robot host or slave carry out flat grain according to S1~S3,
Grain machine structure is scraped first and is in down state, continues flat grain after the first flag code to be identified, is recognized to lift after the second flag code and be scraped
Grain machine structure, after continuing flat grain to identification the first flag code 3~5 times, when again identifying that the first flag code, Jing Ping robot turns left
Or turn right 90 °, the flat Robot walkway board of essence is moved to adjacent flat grain region, and 90 ° of rotation continues to put down when recognizing third label
Grain.
In preferred embodiments of the present invention, above-mentioned Jing Ping robot identifies the first flag code, the second flag code and third
The sequence of flag code is interchangeable, rotation angle according to be laid with walkway board angle determine, rotation angle include walkway board angle and
180°。
In preferred embodiments of the present invention, above-mentioned walkway board includes lateral walkway board and longitudinal walkway board, and walkway board is vertical
It is horizontal to be staggered and silo is divided into multiple flat grain regions.
In preferred embodiments of the present invention, above-mentioned walkway board is provided with line walking band, and the flat Robot line walking band of essence is being walked
It advances on guidance tape and is moved to adjacent flat grain region from a flat grain region, until the flat grain of entire silo is finished.
In preferred embodiments of the present invention, walkway board drive is scraped along longitudinal direction respectively for above-mentioned Jing Ping robot host and slave
Grain machine structure is mobile, carries out flat grain operation, after Jing Ping robot host and slave march to lateral walkway board, transversely walkway board
It is moved to adjacent flat grain region.
In preferred embodiments of the present invention, above-mentioned first flag code, the second flag code and third flag code are two dimensional code
Or AprilTag code, AprilTag code are the identification codes generated by the IDE of OpenMV module.
In preferred embodiments of the present invention, above-mentioned Jing Ping robot is provided with the camera based on OpenMV module, takes the photograph
As head inputs OpenMV module data by identification AprilTag code and exports the rotational angle of Jing Ping robot；Further,
The flat revolute angle of essence detects rotational angle by gyroscope and feeds back to Jing Ping robot.
A kind of Jing Ping robot carries out flat grain using the flat grain method of above-mentioned Jing Ping robot, and Jing Ping robot is as above
It states, or grain machine structure is scraped in the flat artificial Jing Ping robot host of machine of essence and connection host two sides.
The beneficial effects of the present invention are:
By the present invention in that with the line walking movement synchronous with Jing Ping robot slave of Jing Ping robot host and turning to, pass through knowledge
Not different flag codes is turned to or is advanced, and realizes the operation of flat grain and mobile flat grain region, it is mobile scrape grain machine structure to silo into
The flat grain operation of row, stroke sweeping by scraping the translation of grain machine structure or rotation to silo surface；This method can be advanced by robot
And steering, it realizes the flat operation of the essence in flat grain region, is identified by robot line walking from a flat grain region to another area Ping Liang
Domain is repeated continuously mild-natured grain operation, avoids the inconvenience of artificial flat grain, improves flat grain efficiency and reach horizontal mark
Standard realizes the flat operation of mechanization essence.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as
Restriction to range.
Fig. 1 is the line walking aisle schematic diagram of Jing Ping robot of the present invention；
Fig. 2 is the schematic diagram that Jing Ping robot of the present invention identifies flag code and mobile flat grain region；
Fig. 3 is the schematic diagram of Jing Ping robot of the present invention line walking and detection label process；
Fig. 4 is the schematic diagram of the flat revolute angle program of present invention essence；
Icon: the first flag code of 1-；The second flag code of 2-；3- third flag code.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is general
Logical technical staff every other embodiment obtained without creative efforts, belongs to protection of the present invention
Range.
First embodiment
Fig. 1 is please referred to, the present embodiment provides a kind of flat grain methods of Jing Ping robot comprising the flat grain of Jing Ping robot
Method and the flat machine of essence for using this method, Jing Ping robot are made of the grain machine structure of scraping on two chassis and link chassis, and essence is flat
Robot has machine vision module, and chassis is connected to the bottom of grain-levelling machine device people, grain-levelling machine device people host and grain-levelling machine device people
The communication mode of slave is wireless serial communication, wherein serial port baud rate 115200bps, interface mode RS485；Machine
Device vision module is OpenMV module, and OpenMV module includes camera and the one end for being set to grain-levelling machine device people's direction of travel,
Line walking band is set to aisle plate top surface from one end to the other end, acquires image information, line walking band and aisle by OpenMV module
The color of plate is respectively set to the color with color difference, and line walking band is white, and walkway board is set as blackish green, installs on chassis
Headlamp allows camera that can distinguish the white of walkway board color and line walking band as far as possible.
The installation of camera face white line walking band, makes the white line walking captured be located at the center of general image with image,
The threshold values of identification line walking band is set by OpenMV module and determines threshold range, and threshold values is maintained by fixation by pid algorithm
Value, the threshold values that the white line walking band is arranged is (150,156), adjusts threshold value and finds the white line walking band in camera view；It should
The field range of the maximum rectangle frame of the camera of the OpenMV module of embodiment is set as 300 × 200 pixels, in area of visual field
Lateral distance is 300, and vertical distance is 200；In order to enable the master control borad of grain-levelling machine device people can receive the data of camera,
The data that camera is exported are needed to change into three digits, then when the color found is when middle part, camera exports number
According to range between 150~156.After having handled data, when camera output data is 152, what expression was found at this time
Target is not adjusted grain-levelling machine device people at this time in the centre in the visual field, when output data is less than 150, needs to control flat
Grain robot rotates clockwise, and when output data is greater than 156, control grain-levelling machine device people rotates counterclockwise.
Referring to figure 2., Jing Ping robot more than use, square region are the grain of silo, and mass colour region is walkway board,
It is laid with white wire band on walkway board as the flat robot navigation's foundation of essence, each robot chassis is represented with circle in figure, it is round
Between line representative scrape grain machine structure, the flat grain method of Jing Ping robot includes:
S1, pass through Jing Ping robot host and Jing Ping robot slave in walkway board synchronous marching or stopping back and forth, drive
It scrapes grain machine structure and strokes and sweep silo surface；Walkway board includes lateral walkway board and longitudinal walkway board, and walkway board is arranged in a crisscross manner and will
Silo is divided into multiple flat grain regions, and walkway board is provided with line walking band, and line walking band is white, is set to the top surface of walkway board
And extend from one end of walkway board to the other end, the flat Robot line walking band of essence advances on walkway board and from an area Ge Pingliang
Domain is moved to adjacent flat grain region, until the flat grain of entire silo is finished；Jing Ping robot host and slave difference are along longitudinal direction
The movement of grain machine structure is scraped in walkway board drive, carries out flat grain operation, after Jing Ping robot host and slave march to lateral walkway board,
Transversely walkway board is moved to adjacent flat grain region；Jing Ping robot is provided with the camera based on OpenMV module, camera shooting
Head inputs OpenMV module data by identification AprilTag code and exports the rotational angle of Jing Ping robot.
S2, it scrapes grain machine structure and can be rotated relative to connecting rod and stroke sweep silo surface in rotary manner；The embodiment is scraped
Grain machine structure, which stroke using the mode of rotation, sweeps silo surface, and scraping grain machine structure is with the connecting rod for sweeping plate is stroked, and connecting rod is phase
Mutually staggered rod piece forms, and passes through the mode of adjacent rod piece overlapping between rod piece using hinge bar, and adjacent rod piece is hinged,
The connecting rod forms the structure of lifting in such a way that 8 × 2 groups of rod pieces are connected in parallel to each other, and the bottom end of rod piece is connected to stroke and sweep
The bottom for sweeping plate is stroked for flat grain in the top of plate, and the top of rod piece is blocked by two root long strip rod pieces, strip rod piece
Medial surface is provided with sliding groove, and the top of rod piece is convexly equipped with detent protrusion to two sides, and detent protrusion is caught in sliding groove, rod piece
Top relative to strip rod piece slidably, strip rod piece and stroking sweeps the rod piece between plate and forms lifting structure, multiple bars
Part mutual extrusion is laterally drawn close, and strip rod piece and stroking sweeps the reduction of the distance between plate, is stroked and is swept plate and lift, multiple rod pieces are mutual
Stretching vertically is drawn close, and strip rod piece and stroking sweeps the increase of the distance between plate, is stroked and is swept plate and put down, the both ends of strip rod piece are divided
It is not connected to the top on chassis；The lifting structure, which will stroke, to be swept plate and lifts or put down, to shift flat grain region in Jing Ping robot
When it is easy to remove.
Referring to figure 3., the traveling of grain machine structure is scraped in the drive of S3, Jing Ping robot, and the label of walkway board is set to by identification
Code, is turned to and is moved back and forth, and flag code includes the first flag code 1, the second flag code 2 and third flag code 3, the first mark
Remember that code 1, the second flag code 2 and third flag code 3 are AprilTag code, AprilTag code is raw by the IDE of OpenMV module
At identification code；When Jing Ping robot host or slave carry out S3, when recognizing the first flag code 1, the rotation of Jing Ping robot
180 ° are turned around, and are turned left or are turned right 90 ° after identification the first flag code 13 times；When recognizing the second flag code 2, the lift of Jing Ping robot
It rises to scrape grain machine structure or put down and scrapes grain machine structure；When recognizing third flag code 3, Jing Ping robot is rotated by 90 °；Jing Ping robot master
When machine or slave carry out flat grain according to S1~S3, grain machine structure is scraped first and is in down state, the first flag code 1 to be identified is subsequent
Continue flat grain, recognizes to lift after the second flag code 2 and scrape grain machine structure, after continuing flat grain to identification the first flag code 13 times, know again
When other first flag code 1, Jing Ping robot turns left or turns right 90 °, and the flat Robot walkway board of essence is moved to adjacent flat grain area
Domain, 90 ° of rotation continues flat grain when recognizing third label.
AprilTag flag code is placed in the place for needing to reverse end for end, camera is detecting in Jing Ping robot traveling process
When flag code, OpenMV module output data reads current angular by gyroscope when host receives data, and rotation causes
180 degree of positions stop, and centering direction simultaneously receives slave rotation and completes to start to advance when the instruction replied；The embodiment
The placement location of AprilTag flag code is set as, and the first flag code is placed in one end of longitudinal walkway board in flat grain region
1, the second flag code 2 is placed in one end of longitudinal walkway board at the interval in adjacent flat grain region, in the transverse direction for needing to exchange direction
Place third flag code 3 in one end of walkway board.
Using OpenMV module output signal as line walking foundation, output signal is white line color lump in camera for Jing Ping robot
The angle of picture central axes is deviated in adopted image.It identifies that specific AprilTag code is positioned by OpenMV module, schemes
In chequered with black and white fritter represent AprilTag code.
Jing Ping robot is integrally moved along solid black lines with the arrow shown in Fig. 3: since starting point, camera one
It directly detects and exports white line location information in screen, Liang Taijingping robot is outputed simultaneously with identical speed, the flat machine of essence
People carries out flat grain in the movement of the area I, and code signal processing is marked when detecting flag code, detects the first flag code 1 twice
Within when rotate 180 degree, when detecting the first flag code 1 for the third time, rotate clockwise 90 degree, detect to wherein one
When two flag codes 2, grain machine structure is scraped by connecting rod rise, continues on, detects the second flag code every time during traveling
It lifts or puts down when 2 and scrape grain machine structure, when all detecting the first flag code 1, starting point operation is left in rotation 180 degree u-turn,
Detect that the second flag code 2 is put down after the u-turn rotation of Jing Ping robot 180 degree to scrape grain machine structure and continue flat grain, chassis rotate into
Row commutation starts to lift to stroke and sweeps plate, puts when wherein one detects the second flag code 2 again when moving ahead close to walkway board
Under scrape grain machine structure, continue on, when Jing Ping robot host and slave are detected simultaneously by the first flag code 1 of starting point again
180 degree u-turn is rotated, is run so forth, when detecting the first flag code 13 times, Liang Taijingping robot is rotated by 90 ° simultaneously
Toward the area II, rotated when being laterally moved to region II from region I or be moved to region I from region II by detection third flag code 3
90 degree, camera is rotated by 90 ° beginning in the operation of the area II when detecting third flag code 3, operation mode in the area I phase
Together, Jing Ping robot moves back and forth to be rotated by 90 ° counterclockwise after certain number and returns to the area I and continue operation.
Communication is to realize that the guarantee of the two-shipper coordinated movement of various economic factors needs in detecting each flag code and normal traveling process
Send another Jing Ping robot of different instruction notifications.The shape of record slave is marked when communication provided with apriltag_x
State, wherein X is 1,2,3, indicates the type of label.Apriltag_x is initially 0, when itself detects the first flag code 1,
Apriltag_x=apritag_x | 0x01；The apriltag_x=apriltag_x when receiving counter-party information | 0x10；So
Indicate that slave all detects flag code, can carry out rotation process when apriltag_x is 0x11.Based on control logic,
Jing Ping robot requires backtracking to go further back starting point from terminal after going to terminal from initial point, robot needs are known at this time
Current direction, so that it is determined that being counterclockwise when turning 90 degrees or rotating clockwise.Jing Ping robot integrated scheduling logic journey
Sequence is as follows, and definition Directional Sign is direction_flag；It is initialized as 0, i.e., 0 expression and currently runs to the area II, 1 table from the area I
The area Shi Cong II is toward the area I.Mark value is negated when moving to another area every time, in the process of running makees the mark value
For the reference value of steering.
Referring to figure 4., the rotational angle of Jing Ping robot is realized by the omni-directional wheel chassis of the prior art, omni-directional wheel chassis
Shared at least two wheel, the embodiment use 3 wheels, and 3 wheels, which are respectively separated, to be placed equidistant in the bottom on chassis, wheel
Son rotates in same direction simultaneously, drives omni-directional wheel chassis to rotate, to adjust the angle of Jing Ping robot；The flat revolute angle of essence
Degree detects rotational angle by gyroscope and feeds back to Jing Ping robot, and TL766D_angle is the current angle of gyroscope
Value, renewal frequency 25Hz is zero degree when booting, the angular turn of Jing Ping robot and adjusts angle and passes through angular adjustment journey
Sequence realizes that angular adjustment program is as follows:
Jing Ping robot line walking aisle is advanced, to be checked to measure flag code, host notification Jing Ping robot, Jing Ping robot from
Whether machine, two-shipper read the angle value of current gyro, and judge the angle value less than 180 °；If being less than, Ze Jingping robot
It rotates clockwise, the value whether rotational angle is less than after rotation 180 degree is judged after rotation, is not to continue to rotate, until essence is flat
Revolute 180 degree position is extremely；If more than then smart flat robot inverse hour hands rotation, judges whether angle is greater than after rotation
Angle difference is not to continue to rotate, until the flat revolute to 180 degree position of essence.In the embodiment, OpenMV
The threshold values that camera maintains online medium position is (150,156), when line is located at camera by camera line walking by module
When the left side, judgment value is then rotated clockwise less than 150, and judgment value is greater than 156, then is rotated counterclockwise, until value in 150~
Stop when between 156, Jing Ping robot host or slave reply other side and receive the reply of other side.
Second embodiment
Fig. 1 is please referred to, the present embodiment provides a kind of flat grain methods of Jing Ping robot comprising the flat grain of Jing Ping robot
Method and the flat machine of essence for using this method, Jing Ping robot are made of the grain machine structure of scraping on two chassis and link chassis, and essence is flat
Robot has machine vision module, and chassis is connected to the bottom of grain-levelling machine device people, and the diameter on chassis is 600mm, flat grain
The communication mode of robot host and grain-levelling machine device people's slave is wireless serial communication, wherein serial port baud rate is
115200bps, interface mode RS485；Machine vision module is OpenMV module, and OpenMV module includes camera and sets
It is placed in one end of grain-levelling machine device people's direction of travel, line walking band is set to aisle plate top surface from one end to the other end, passes through OpenMV
The color of module acquisition image information, line walking band and walkway board is respectively set to the color with color difference, and line walking band is white,
Walkway board is set as blackish green, and headlamp is installed on chassis, allows camera that can distinguish walkway board color and line walking band as far as possible
White.
Second embodiment is identical with first embodiment part, the difference is that, the threshold values of line walking identifies number and scrapes grain
The flat grain mode of mechanism.
The installation of camera face white line walking band, makes the white line walking captured be located at the center of general image with image,
The threshold values of identification line walking band is set by OpenMV module and determines threshold range, and threshold values is maintained by fixation by pid algorithm
Value, the threshold values that the white line walking band is arranged is (98,102), adjusts threshold value and finds the white line walking band in camera view；It should
The field range of the maximum rectangle frame of the camera of the OpenMV module of embodiment is set as 200 × 120 pixels, in area of visual field
Lateral distance is 200, and vertical distance is 120；In order to enable the master control borad of grain-levelling machine device people can receive the data of camera,
The data that camera is exported are needed to change into three digits, then when the color found is when middle part, camera exports number
According to range between 98~102.After having handled data, when camera output data is 100, what expression was found at this time
Target is not adjusted grain-levelling machine device people at this time in the centre in the visual field, when output data is less than 100, needs to control flat
Grain robot rotates clockwise, and when output data is greater than 100, control grain-levelling machine device people rotates counterclockwise.
Referring to figure 2., Jing Ping robot more than use, square region are the grain of silo, and mass colour region is walkway board,
It is laid with white wire band on walkway board as the flat robot navigation's foundation of essence, each robot chassis is represented with circle in figure, it is round
Between line representative scrape grain machine structure, the flat grain method of Jing Ping robot includes:
S1, pass through Jing Ping robot host and Jing Ping robot slave in walkway board synchronous marching or stopping back and forth, drive
It scrapes grain machine structure and strokes and sweep silo surface；Walkway board includes lateral walkway board and longitudinal walkway board, and walkway board is arranged in a crisscross manner and will
Silo is divided into multiple flat grain regions, and walkway board is provided with line walking band, and line walking band is white, is set to the top surface of walkway board
And extend from one end of walkway board to the other end, the flat Robot line walking band of essence advances on walkway board and from an area Ge Pingliang
Domain is moved to adjacent flat grain region, until the flat grain of entire silo is finished；Jing Ping robot host and slave difference are along longitudinal direction
The movement of grain machine structure is scraped in walkway board drive, carries out flat grain operation, after Jing Ping robot host and slave march to lateral walkway board,
Transversely walkway board is moved to adjacent flat grain region；Jing Ping robot is provided with the camera based on OpenMV module, camera shooting
Head inputs OpenMV module data by identification AprilTag code and exports the rotational angle of Jing Ping robot.
S2, grain machine structure is scraped by forming angle with walkway board direction and stroke sweep silo surface in a mobile manner, or scrape grain
Mechanism strokes in rotary manner between walkway board and sweeps silo surface；The embodiment scrape grain machine structure using mobile mode into
Row, which strokes, sweeps silo surface, and scraping grain machine structure is with the connecting rod for sweeping plate is stroked, and the both ends of connecting rod are separately connected Jing Ping robot master
Machine and Jing Ping robot slave, fixed stroke in the bottom of connecting rod sweep plate, stroke and sweep that plate is in long strip, and bottom is burnishing surface, stroke and sweep
The bottom of plate is stroked to sweep and is convexly equipped with screw at the top of plate for putting down the surface of silo, and connecting rod is provided with screw hole, strokes and sweeps plate
It is fixedly installed in connecting rod in such a way that screw is caught in screw hole, stroking becomes whole after sweeping plate and connecting rod installation, connecting rod
Both ends are respectively arranged with elevating mechanism, which, which will stroke, sweeps plate and lift or put down, to shift flat grain in Jing Ping robot
Easy to remove when region, elevating mechanism is the structure of telescopic lifting, and outer cylinder and inner cylinder form flexible structure, the bottom of outer cylinder
Portion is fixed by bolts in the chassis of grain-levelling machine device people, and inner cylinder is set in outer cylinder, and outer barrel is provided with for driving lifting
Motor, the lifting shaft top of motor are soldered to the inner wall of inner cylinder, and the both ends of connecting rod are fixedly attached to the outer wall of inner cylinder, lifting
Mechanism will be stroked by way of slip expansion sweeps plate and is lifted or put down.
The traveling of grain machine structure is scraped in the drive of S3, Jing Ping robot, and the flag code of walkway board is set to by identification, is turned to
With move back and forth, flag code include the first flag code 1, the second flag code 2 and third flag code 3, the first flag code 1, second
Flag code 2 and third flag code 3 are AprilTag code, and AprilTag code is the identification generated by the IDE of OpenMV module
Code；When Jing Ping robot host or slave carry out S3, when recognizing the first flag code 1, Jing Ping robot rotates 180 ° and turns around,
Turn left after identifying the first flag code 14 times or turns right 90 °；When recognizing the second flag code 2, Jing Ping robot, which lifts, scrapes grain machine structure
Or it puts down and scrapes grain machine structure；When recognizing third flag code 3, Jing Ping robot is rotated by 90 °；Jing Ping robot host or slave root
When carrying out flat grain according to S1~S3, grain machine structure is scraped first and is in down state, continues flat grain after the first flag code 1 to be identified, identify
It is lifted after to the second flag code 2 and scrapes grain machine structure, after continuing flat grain to identification the first flag code 14 times, again identify that the first label
When code 1, Jing Ping robot turns left or turns right 90 °, and the flat Robot walkway board of essence is moved to adjacent flat grain region, recognizes the
90 ° of rotation continues flat grain when three labels.
AprilTag flag code is placed in the place for needing to reverse end for end, camera is detecting in Jing Ping robot traveling process
When flag code, OpenMV module output data reads current angular by gyroscope when host receives data, and rotation causes
180 degree of positions stop, and centering direction simultaneously receives slave rotation and completes to start to advance when the instruction replied；The embodiment
The placement location of AprilTag flag code is set as, and the first flag code is placed in one end of longitudinal walkway board in flat grain region
1, the second flag code 2 is placed in one end of longitudinal walkway board at the interval in adjacent flat grain region, in the transverse direction for needing to exchange direction
Place third flag code 3 in one end of walkway board.
Using OpenMV module output signal as line walking foundation, output signal is white line color lump in camera for Jing Ping robot
The angle of picture central axes is deviated in adopted image.It identifies that specific AprilTag code is positioned by OpenMV module, schemes
In chequered with black and white fritter represent AprilTag code.
Jing Ping robot is integrally moved along solid black lines with the arrow shown in Fig. 3: since starting point, camera one
It directly detects and exports white line location information in screen, Liang Taijingping robot is outputed simultaneously with identical speed, the flat machine of essence
People carries out flat grain in the movement of the area I, and code signal processing is marked when detecting flag code, detects the first flag code 1 twice
Within when rotate 180 degree, when detecting the first flag code 1 for the third time, rotate clockwise 90 degree, detect to wherein one
When two flag codes 2, grain machine structure is scraped by connecting rod rise, continues on, detects the second flag code every time during traveling
It lifts or puts down when 2 and scrape grain machine structure, when all detecting the first flag code 1, starting point operation is left in rotation 180 degree u-turn,
Detect that the second flag code 2 is put down after the u-turn rotation of Jing Ping robot 180 degree to scrape grain machine structure and continue flat grain, chassis rotate into
Row commutation starts to lift to stroke and sweeps plate, puts when wherein one detects the second flag code 2 again when moving ahead close to walkway board
Under scrape grain machine structure, continue on, when Jing Ping robot host and slave are detected simultaneously by the first flag code 1 of starting point again
180 degree u-turn is rotated, is run so forth, when detecting the first flag code 14 times, Liang Taijingping robot is rotated by 90 ° simultaneously
Toward the area II, rotated when being laterally moved to region II from region I or be moved to region I from region II by detection third flag code 3
90 degree, camera is rotated by 90 ° beginning in the operation of the area II when detecting third flag code 3, operation mode in the area I phase
Together, Jing Ping robot moves back and forth to be rotated by 90 ° counterclockwise after certain number and returns to the area I and continue operation.
Communication is to realize that the guarantee of the two-shipper coordinated movement of various economic factors needs in detecting each flag code and normal traveling process
Send another Jing Ping robot of different instruction notifications.The shape of record slave is marked when communication provided with apriltag_x
State, wherein X is 1,2,3, indicates the type of label.Apriltag_x is initially 0, when itself detects the first flag code 1,
Apriltag_x=apritag_x | 0x01；The apriltag_x=apriltag_x when receiving counter-party information | 0x10；So
Indicate that slave all detects flag code, can carry out rotation process when apriltag_x is 0x11.Based on control logic,
Jing Ping robot requires backtracking to go further back starting point from terminal after going to terminal from initial point, robot needs are known at this time
Current direction, so that it is determined that being counterclockwise when turning 90 degrees or rotating clockwise.Jing Ping robot integrated scheduling logic journey
Sequence is as follows, and definition Directional Sign is direction_flag；It is initialized as 0, i.e., 0 expression and currently runs to the area II, 1 table from the area I
The area Shi Cong II is toward the area I.Mark value is negated when moving to another area every time, in the process of running makees the mark value
For the reference value of steering.
The rotational angle of Jing Ping robot realizes that omni-directional wheel chassis shares at least 2 by the omni-directional wheel chassis of the prior art
A wheel, the embodiment use 3 wheels, and 3 wheels, which are respectively separated, to be placed equidistant in the bottom on chassis, and wheel is in the same direction simultaneously
Rotation then drives omni-directional wheel chassis to rotate, to adjust the angle of Jing Ping robot；The flat revolute angle of essence passes through gyro
Instrument detection rotational angle simultaneously feeds back to Jing Ping robot, and TL766D_angle is the current angle value of gyroscope, renewal frequency
For 25Hz, when booting is zero degree, the angular turn of Jing Ping robot and adjusts angle and is realized by angular adjustment program, angle
It is as follows to adjust program:
Jing Ping robot line walking aisle is advanced, to be checked to measure flag code, host notification Jing Ping robot, Jing Ping robot from
Whether machine, two-shipper read the angle value of current gyro, and judge the angle value less than 180 °；If being less than, Ze Jingping robot
It rotates clockwise, the value whether rotational angle is less than after rotation 180 degree is judged after rotation, is not to continue to rotate, until essence is flat
Revolute 180 degree position is extremely；If more than then smart flat robot inverse hour hands rotation, judges whether angle is greater than after rotation
Angle difference is not to continue to rotate, it is known that until the flat revolute to 180 degree position of essence.In the embodiment, OpenMV
The threshold values that camera maintains online medium position is (98,102) by camera line walking by module, when line is located at a camera left side
Bian Shi, judgment value are then rotated clockwise less than 98, and judgment value is greater than 102, then are rotated counterclockwise, until value is in 98~102
Between when stop, Jing Ping robot host or slave reply other side and receive the reply of other side.
Present example is mobile by using Jing Ping robot host line walking synchronous with Jing Ping robot slave and turns to, and leads to
It crosses and identifies that different flag codes is turned to or advanced, realize that flat grain operation and mobile flat grain region, movement scrape grain machine structure to grain
Storehouse carries out flat grain operation, stroke sweeping to silo surface by scraping the translation of grain machine structure or rotation；This method can pass through robot
It advances and turns to, realize the flat operation of the essence in flat grain region, it is flat from a flat grain region to another by the identification of robot line walking
Grain region is repeated continuously mild-natured grain operation, avoids the inconvenience of artificial flat grain, improves flat grain efficiency and reach horizontal
Standard realizes the flat operation of mechanization essence.
Present specification describes the example of the embodiment of the present invention, it is not meant to that these embodiments illustrate and describe this
All possible forms of invention.Those of ordinary skill in the art will understand that the embodiments described herein is to help
Reader understands the principle of the present invention, it should be understood that protection scope of the present invention is not limited to such special statement and reality
Apply example.Those skilled in the art disclosed the technical disclosures can make according to the present invention and various not depart from this hair
Bright substantive various other specific variations and combinations, these variations and combinations are still within the scope of the present invention.
Claims (10)
1. a kind of flat grain method of Jing Ping robot, which is characterized in that Jing Ping robot includes host, slave and is connected to host
Grain machine structure is scraped between slave, flat grain method includes: S1, passes through Jing Ping robot host and Jing Ping robot slave in aisle
Plate synchronous marching or stopping back and forth, drive, which is scraped grain machine structure and stroked, sweeps silo surface；S2, grain machine structure is scraped by being formed with walkway board direction
Angle simultaneously strokes in a mobile manner and sweeps silo surface, or scrapes grain machine structure and stroke in rotary manner between walkway board and sweep silo table
Face；The traveling of grain machine structure is scraped in the drive of S3, Jing Ping robot, and the flag code of walkway board is set to by identification, is turned to and is come
Return is dynamic.
2. the flat grain method of Jing Ping robot according to claim 1, which is characterized in that the flag code includes the first mark
Remember that code, the second flag code and third flag code recognize the first flag code when Jing Ping robot host or slave carry out S3
When, Jing Ping robot rotates 180 ° and turns around, and turns left or turns right 90 ° after identification the first flag code 2~10 times；Recognize the second label
When code, Jing Ping robot, which lifts to scrape grain machine structure or put down, scrapes grain machine structure；When recognizing third flag code, the rotation of Jing Ping robot
90°。
3. the flat grain method of Jing Ping robot according to claim 2, which is characterized in that Jing Ping robot host or
When slave carries out flat grain according to S1~S3, grain machine structure is scraped first and is in down state, continues flat grain after the first flag code to be identified,
It recognizes to lift after the second flag code and scrapes grain machine structure, after continuing flat grain to identification the first flag code 3~5 times, again identify that first
When flag code, the Jing Ping robot turns left or turns right 90 °, and the flat Robot walkway board of essence is moved to adjacent flat grain area
Domain, 90 ° of rotation continues flat grain when recognizing third label.
4. the flat grain method of Jing Ping robot according to claim 2, which is characterized in that Jing Ping robot identification the
The sequence of one flag code, the second flag code and third flag code is interchangeable, and rotation angle is determined according to the angle for being laid with walkway board, rotation
Gyration include walkway board angle and 180 °.
5. the flat grain method of Jing Ping robot according to claim 1, which is characterized in that the walkway board includes laterally walking
Guidance tape and longitudinal walkway board, the walkway board are arranged in a crisscross manner and silo are divided into multiple flat grain regions.
6. the flat grain method of Jing Ping robot according to claim 5, which is characterized in that the walkway board is provided with line walking
Band, the flat Robot line walking band of essence advance on walkway board and are moved to adjacent flat grain region from a flat grain region,
Until the flat grain of entire silo is finished.
7. the flat grain method of Jing Ping robot according to claim 6, which is characterized in that Jing Ping robot host and
Slave respectively along longitudinal direction walkway board drive described in scrape grain machine structure mobile, carry out flat grain operation, Jing Ping robot host and from
After machine marches to lateral walkway board, transversely walkway board is moved to adjacent flat grain region.
8. the flat grain method of Jing Ping robot according to claim 2, which is characterized in that first flag code, second
Flag code and third flag code are two dimensional code or AprilTag code, and AprilTag code is generated by the IDE of OpenMV module
Identification code.
9. the flat grain method of Jing Ping robot according to claim 8, which is characterized in that the Jing Ping robot is provided with
Based on the camera of OpenMV module, camera inputs OpenMV module data by identification AprilTag code and exports the essence
The rotational angle of flat robot.
10. a kind of Jing Ping robot, which is characterized in that carried out using the flat grain method of Jing Ping robot described in claim 1
Flat grain, Jing Ping robot host connect at least one Jing Ping robot slave, or the artificial Jing Ping robot host of the flat machine of essence and company
Connect host two sides scrapes grain machine structure.
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