CN110926368A - Fruit attitude image acquisition device - Google Patents
Fruit attitude image acquisition device Download PDFInfo
- Publication number
- CN110926368A CN110926368A CN201911305392.1A CN201911305392A CN110926368A CN 110926368 A CN110926368 A CN 110926368A CN 201911305392 A CN201911305392 A CN 201911305392A CN 110926368 A CN110926368 A CN 110926368A
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- Prior art keywords
- swing arm
- fruit
- driven gear
- stepping motor
- image acquisition
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention provides a fruit posture image acquisition device, and relates to the field of image acquisition. The fruit posture image acquisition device comprises a rack, a mechanical arm and a placing seat, wherein the mechanical arm comprises a first swing arm, a second swing arm, a first stepping motor, a second stepping motor and a camera, one end of the first swing arm is rotatably connected with the rack, and the first stepping motor is in transmission connection with the first swing arm; one end of the second swing arm is hinged with the other end of the first swing arm, the second stepping motor is in transmission connection with the second swing arm, the camera is rotatably arranged at the other end of the second swing arm, and a first steering engine is arranged between the camera and the second swing arm; the placing seat is installed on the rack and is provided with a supporting structure for placing fruits. The mechanical arm structure formed by two-section type swing arms can flexibly obtain the complete three-dimensional appearance of fruits through the matching action of the mechanical arm and the steering engine, so that cameras at other positions are saved, and the manufacturing cost and the use cost of the device are effectively controlled.
Description
Technical Field
The invention relates to the technical field of image acquisition, in particular to a fruit posture image acquisition device.
Background
With the development of fruit deep processing technology, picked fruits usually need to be cleaned, enucleated, fleshed and the like, and because the positions, shapes and sizes of kernels of different fruits are different, the fruits need to be placed in an oriented manner, but many fruits are difficult to be oriented by adopting a physical method. The method of machine vision is needed, and the method of machine vision generally requires that a large number of fruit three-dimensional shape images are collected for model training, the trained models are used for fruit directional detection and judgment, and the subsequent denucleation process can be determined only by the fruits which are qualified in the direction.
Image acquisition is typically done by a camera, which can only obtain a planar image of the object. At present, an image acquisition technology using a plurality of cameras is provided, two or three cameras are used for shooting from different angles of fruits, and then plane images shot from different angles are combined and analyzed to finally obtain the three-dimensional shape of the fruits. However, a plurality of cameras are generally installed at set positions, and can only shoot fruits from a fixed viewing angle, and cannot additionally obtain images from other viewing angles according to the actual appearance of the fruits.
In summary, the complete three-dimensional shape of the fruit cannot be flexibly obtained by using the existing image acquisition technology. In addition, the provision of multiple cameras in the fruit pose image capture device increases the manufacturing and use costs of the device.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a fruit posture image capturing device, so as to solve the problems that the existing image capturing technology cannot flexibly obtain the complete three-dimensional shape of the fruit, and the manufacturing cost and the using cost of the device are increased by arranging a plurality of cameras in the fruit posture image capturing device.
The technical scheme of the fruit attitude image acquisition device provided by the invention is as follows:
the fruit posture image acquisition device comprises a rack, a mechanical arm and a placing seat, wherein the mechanical arm and the placing seat are installed on the rack, the mechanical arm comprises a first swing arm, a second swing arm, a first stepping motor, a second stepping motor and a camera, one end of the first swing arm is rotatably connected with the rack, and the first stepping motor is in transmission connection with the first swing arm;
one end of the second swing arm is hinged with the other end of the first swing arm, the second stepping motor is in transmission connection with the second swing arm, the camera is rotatably mounted at the other end of the second swing arm, and a first steering engine is arranged between the camera and the second swing arm; the placing seat is installed on the rack and is provided with a supporting structure for placing fruits.
Has the advantages that: the mechanical arm structure consisting of two sections of swing arms is adopted, two stepping motors are used for controlling the two sections of swing arms to move respectively, the flexibility of the mechanical arm structure is better, the mechanical arm can accurately complete corresponding movement, and a camera can accurately reach a set position to complete subsequent image acquisition work; the steering engine has the characteristic of high output precision of a rotation angle, can meet the requirement of accurately controlling the photographing angle of the camera, and ensures that the camera can always perform image acquisition towards the center of the fruit; through the cooperation action of arm and steering wheel, can realize obtaining the complete three-dimensional appearance of fruit in a flexible way to saved the camera that increases other positions, effectively controlled the manufacturing cost and the use cost of whole device.
Furthermore, the rack is of a frame structure, a mounting seat is arranged on the upper side of the rack, a first rotating shaft is arranged on the mounting seat, one end of the first swing arm is rotatably connected with the first rotating shaft, a first driven gear is further connected to the first swing arm in a rotation stopping manner, the first stepping motor is arranged on the mounting seat, and a main shaft of the first stepping motor is in transmission connection with the first driven gear.
Further, the other end of first swing arm is equipped with the second pivot, the one end of second swing arm with the second pivot is rotated and is connected, the setting of second step motor is in on the mount pad, and rotate on the first pivot and install second driven gear, the main shaft and the second driven gear transmission of second step motor are connected, be equipped with the third driven gear who ends the commentaries on classics with the second swing arm and be connected in the second pivot, third driven gear is connected with the second driven gear transmission.
Further, a first driving gear is mounted on a main shaft of the first stepping motor, and a first internal toothed belt is sleeved between the first driving gear and the first driven gear; install second drive gear on the main shaft of second step motor, the cover is equipped with second internal toothed belt between second drive gear and the second driven gear, the cover is equipped with third internal toothed belt between second driven gear and the third driven gear.
Furthermore, a first steering engine is fixedly installed at the other end of the second swing arm, and a main shaft of the first steering engine is in transmission connection with the camera.
Furthermore, the other end of the second swing arm is also provided with a light supplementing module, and the light supplementing module is in transmission connection with a main shaft of the first steering engine.
Further, place the seat and include second steering wheel, revolving stage and sucking disc, the second steering wheel is fixed in the frame, the revolving stage with the spindle drive of second steering wheel is connected, the sucking disc is installed the central point of revolving stage upside puts, the sucking disc constitutes the bearing structure that the fruit was placed supplies water.
Further, the upside of revolving stage is equipped with the hemisphere cover of hunch up upwards, the surface of hemisphere cover scribbles the background color, the sucking disc sets up the top position of hemisphere cover.
Further, the shape of frame is the cuboid, place the seat and arrange in the lower part of frame and with the distribution of mount pad stagger.
Furthermore, fruit gesture image acquisition device still includes control module, control module is connected with first step motor, second step motor, first steering wheel and second steering wheel electricity respectively, control module is used for controlling the camera and carries out image acquisition with different visual angles to fruit.
Drawings
Fig. 1 is a schematic perspective view of a fruit pose image acquisition device in embodiment 1 of the fruit pose image acquisition device of the present invention;
FIG. 2 is a partial perspective view of the portion of the robot arm of FIG. 1;
FIG. 3 is a partial perspective view of the portion of the robot arm of FIG. 1;
FIG. 4 is a partial perspective view of the camera portion of FIG. 1;
fig. 5 is a partial perspective view of the seating portion of fig. 1.
In the figure: 1-a rack, 10-a mounting seat, 100-a first rotating shaft, 101-a second driven gear, 102-a second internal tooth belt, 2-a mechanical arm, 21-a first swing arm, 211-a first driven gear, 22-a second swing arm, 221-a third driven gear, 222-a third internal tooth belt, 31-a first stepping motor, 311-a first driving gear, 312-a first internal tooth belt, 32-a second stepping motor, 321-a second driving gear, 4-a camera, 41-a first steering engine, 42-a light supplement module, 5-a placing seat, 50-a placing seat bottom plate, 51-a second steering engine, 52-a hemispherical cover, 53-a rotating platform and 6-fruits.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In a specific embodiment 1 of the fruit posture image collecting device of the present invention, as shown in fig. 1 to 3, the fruit posture image collecting device includes a rack 1, a mechanical arm 2 mounted on the rack 1, and a placing seat 5, the mechanical arm 2 includes a first swing arm 21, a second swing arm 22, a first stepping motor 31, a second stepping motor 32, and a camera 4, one end of the first swing arm 21 is rotatably connected to the rack 1, and the first stepping motor 31 is in transmission connection with the first swing arm 21; one end of the second swing arm 22 is hinged to the other end of the first swing arm 21, the second stepping motor 32 is in transmission connection with the second swing arm 22, the camera 4 is rotatably mounted at the other end of the second swing arm 22, and a first steering engine 41 is arranged between the camera 4 and the second swing arm 22.
In the present embodiment, the frame 1 is a frame structure, the frame 1 is shaped like a rectangular parallelepiped, the upper side of the frame 1 is provided with a mounting seat 10, and the placing seats 5 are arranged at the lower part of the frame 1 and are distributed in a staggered manner with respect to the mounting seat 10. The mounting base 10 is provided with a first rotating shaft 100; wherein, mount pad 10 includes the riser that two intervals were arranged side by side, and first pivot 100 sets up the spaced position between two risers, and the outside of two risers is equipped with the diaphragm respectively, plays the supporting role to first step motor 31 and second step motor 32 respectively through two diaphragms, offers the perforation that the main shaft that supplies first step motor 31 and second step motor 32 passed on two risers respectively. First step motor 31 sets up on mount pad 10, and is concrete, and first step motor 31 installs on the left side diaphragm, and second step motor 32 installs on the right side diaphragm, and the main shaft of first step motor 31, the main shaft of second step motor 32 overhang respectively to the interval between two risers in, and two step motor's main shaft is corresponding with the first pivot 100 that is located between two risers.
One end of the first swing arm 21 is rotatably connected with the first rotating shaft 100, a first driven gear 211 is further arranged on the first swing arm 21, the first driven gear 211 is connected with the first swing arm 21 in a rotation stopping manner, and a main shaft of the first stepping motor 31 is in transmission connection with the first driven gear 211. Specifically, a first drive gear 311 is mounted on the main shaft of the first stepping motor 31, and a first internal toothed belt 312 is sleeved between the first drive gear 311 and the first driven gear 211. The first stepping motor 31 is operated to drive the first driving gear 311 on the main shaft to rotate, and the first driving gear 311 drives the first driven gear 211 and the first swing arm 21 to rotate around the axis of the first rotating shaft 100 through the first internal toothed belt 312. The connection mode of stepping motor driving and internal tooth belt transmission is adopted, the work of a high-precision control motor can be realized, and the power of the motor is accurately transmitted to the first swing arm 21, so that the first swing arm 21 can complete accurate action.
The other end of the first swing arm 21 is provided with a second rotating shaft (not shown in the figure), one end of the second swing arm 22 is rotatably connected with the second rotating shaft, the second stepping motor 32 is arranged on the right transverse plate of the mounting seat 10, the first rotating shaft 100 is rotatably provided with a second driven gear 101, and a main shaft of the second stepping motor 32 is in transmission connection with the second driven gear 101. Similarly, a second driving gear 321 is mounted on the main shaft of the second stepping motor 32, a second internal toothed belt 102 is sleeved between the second driving gear 321 and the second driven gear 101, and the power output by the second stepping motor 32 is accurately transmitted to the second driven gear 101 through the second internal toothed belt 102.
A third driven gear 221 is arranged on a second rotating shaft at the other end of the first swing arm 21, the third driven gear 221 is in transmission connection with the second driven gear 101, and specifically, a third internal toothed belt 222 is sleeved between the second driven gear 101 and the third driven gear 221. Second step motor 32 work drives second drive gear 321 and rotates, through the accurate transmission of second internal tooth belt 102 power to second driven gear 101, because still the cover is equipped with third internal tooth belt 222 on the second driven gear 101, rethread third internal tooth belt 222 will rotate power and further transmit to third driven gear 221, third driven gear 221 and second swing arm 22 are only changeed and are connected to the realization drives second swing arm 22 and rotates the action around the axis of second pivot.
Since the second rotating shaft is disposed at the other end of the first swing arm 21, the rotating motion of the second swing arm 22 is completed based on the first swing arm 21, the first swing arm 21 is driven by the first stepping motor 31 to complete the rotating motion around the first rotating shaft 100, and the second swing arm 22 is driven by the second stepping motor 32 to complete the rotating motion around the second rotating shaft at the other end of the first swing arm 21, that is, the rotating motion of the second swing arm 22 is completed relative to the first swing arm 21. The mechanical arm structure formed by two sections of swing arms is adopted, and two stepping motors are used for respectively controlling the two sections of swing arms to act, so that the mechanical arm 2 can accurately complete corresponding actions, and the camera 4 can accurately reach a set position to complete subsequent image acquisition work.
Wherein, first steering wheel 41 fixed mounting is at the other end of second swing arm 22, and the main shaft of first steering wheel 21 is connected with camera 4 transmission, and the other end of second swing arm 22 still is equipped with light filling module 42, and light filling module 42 also is connected with first steering wheel 41's main shaft transmission. Drive camera 4 and light filling module 42 synchronous rotation through first steering wheel 41, the steering wheel has the characteristics that the angle of rotation output precision is high, can satisfy the requirement of the angle of taking a picture of accurate control camera 4, guarantees that camera 4 can carry out image acquisition towards the center of fruit 6 all the time. Through the cooperation action of arm 2 and steering wheel, can realize obtaining the complete three-dimensional appearance of fruit 6 in a flexible way to saved the camera that increases other positions, effectively controlled the manufacturing cost and the use cost of whole device.
The placing seat 5 is mounted on the frame 1, and the placing seat 5 has a supporting structure for placing the fruit 6. Specifically, the placing seat 5 includes a second steering gear 51, a rotating platform 53 and a suction cup (not shown in the figure), and the second steering gear 51 is fixed on the frame 1. Wherein, the downside of frame 1 is fixed with places the seat bottom plate, and second steering wheel 51 is fixed on placing the seat bottom plate, and revolving stage 53 is connected with the main shaft transmission of second steering wheel 51, and the central point that 53 sides was installed on the revolving stage to the sucking disc puts, and the sucking disc is pneumatic negative pressure sucking disc, can adsorb fruit 6 stably and fix the top central point of revolving stage 53 puts, and the sucking disc constitutes the bearing structure who supplies fruit 6 to place. The upside of revolving stage 53 is equipped with the hemisphere cover 52 of hunch up upwards, and the surface of hemisphere cover 52 scribbles the background color, and the through-hole that supplies the sucking disc to upwards stretch out is seted up at the top of hemisphere cover 52, and the sucking disc setting is in the top position of hemisphere cover 52.
The fruit posture image acquisition device further comprises a control module, the control module is respectively electrically connected with the first stepping motor 31, the second stepping motor 32, the first steering engine 41 and the second steering engine 51, and the control module is used for controlling the camera 4 to acquire images of fruits at different viewing angles. Specifically, the control module is an STM32 single chip microcomputer, a position-angle control program is stored in the control module, a set position of the camera 4 can be obtained according to a distance between the center of the camera 4 and the center of the fruit 6 and an included angle between a connecting line between the center of the camera 4 and the center of the fruit 6 and a horizontal plane, a rotation angle of the first swing arm 21 and the second swing arm 22 can be obtained by solving through a trigonometric function formula according to the set position of the camera 4, the known position of the first rotating shaft 100 and the known length of the first swing arm 21 and the second swing arm 22, and the first stepping motor 31 and the second stepping motor 32 are controlled to work to respectively drive the rotation set angles of the first swing arm 21 and the second swing arm 22, so that the camera 4 reaches the set image acquisition position. Correspondingly, the control module controls the first steering engine 41 to work to drive the camera 4 and the light supplement module 42 to rotate by corresponding angles so that the camera 4 faces the center of the fruit 6, and controls the second steering engine 51 to drive the rotating platform 53 and the fruit 6 to rotate by corresponding angles so as to complete image acquisition of different sides of the fruit 6.
In other specific embodiments of the fruit posture image collecting device of the present invention, the transmission connection form between the first stepping motor and the first swing arm is not limited to the gear belt transmission in specific embodiment 1, and a driven gear may be connected to one end of the first swing arm in a rotation stopping manner, the driven gear is engaged with the first driving gear on the main shaft of the first stepping motor, and the power of the first stepping motor is directly transmitted to the first swing arm through gear engagement to complete the corresponding rotation action. Correspondingly, the transmission connection form between the second stepping motor and the second swing arm can also be replaced by gear transmission connection, through arranging a gear set on the first swing arm, the gear positioned at one end of the first swing arm is meshed and matched with the second driving gear of the second stepping motor, and the gear positioned at the other end of the first swing arm is connected with the second swing arm in a rotation stopping manner, so that the second stepping motor drives the second swing arm to complete corresponding rotation action.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A fruit posture image acquisition device is characterized by comprising a rack, a mechanical arm and a placing seat, wherein the mechanical arm and the placing seat are installed on the rack;
one end of the second swing arm is hinged with the other end of the first swing arm, the second stepping motor is in transmission connection with the second swing arm, the camera is rotatably mounted at the other end of the second swing arm, and a first steering engine is arranged between the camera and the second swing arm; the placing seat is installed on the rack and is provided with a supporting structure for placing fruits.
2. The fruit posture image acquisition device according to claim 1, wherein the frame is a frame structure, a mounting seat is arranged on the upper side of the frame, a first rotating shaft is arranged on the mounting seat, one end of the first swing arm is rotatably connected with the first rotating shaft, a first driven gear is further connected to the first swing arm in a rotation stopping manner, the first stepping motor is arranged on the mounting seat, and a main shaft of the first stepping motor is in transmission connection with the first driven gear.
3. The fruit posture image acquisition device of claim 2, wherein a second rotating shaft is arranged at the other end of the first swing arm, one end of the second swing arm is rotatably connected with the second rotating shaft, the second stepping motor is arranged on the mounting seat, a second driven gear is rotatably arranged on the first rotating shaft, a main shaft of the second stepping motor is in transmission connection with the second driven gear, a third driven gear which is in rotation-stopping connection with the second swing arm is arranged on the second rotating shaft, and the third driven gear is in transmission connection with the second driven gear.
4. The fruit attitude image acquisition device according to claim 3, wherein a first driving gear is mounted on a main shaft of the first stepping motor, and a first internal toothed belt is sleeved between the first driving gear and the first driven gear; install second drive gear on the main shaft of second step motor, the cover is equipped with second internal toothed belt between second drive gear and the second driven gear, the cover is equipped with third internal toothed belt between second driven gear and the third driven gear.
5. The fruit posture image acquisition device of any one of claims 1 to 4, wherein the first steering engine is fixedly mounted at the other end of the second swing arm, and a main shaft of the first steering engine is in transmission connection with a camera.
6. The fruit posture image acquisition device of claim 5, wherein a light supplementing module is further arranged at the other end of the second swing arm, and the light supplementing module is in transmission connection with a main shaft of the first steering engine.
7. The fruit posture image acquisition device of claim 1, wherein the placing seat comprises a second steering engine, a rotating table and a sucker, the second steering engine is fixed on the rack, the rotating table is in transmission connection with a main shaft of the second steering engine, the sucker is installed at the center of the upper side of the rotating table, and the sucker forms a supporting structure for placing water fruits.
8. The fruit posture image collecting device of claim 7, wherein the upper side of the rotating table is provided with an upwardly arched hemispherical cover, the surface of the hemispherical cover is coated with a background color, and the suction cup is disposed at the top of the hemispherical cover.
9. The fruit pose image acquisition device of claim 1, wherein the rack is rectangular, and the placing seats are arranged at the lower part of the rack and are distributed in a staggered way with the mounting seats.
10. The fruit attitude image acquisition device according to claim 1, further comprising a control module, wherein the control module is electrically connected with the first stepping motor, the second stepping motor, the first steering engine and the second steering engine respectively, and the control module is used for controlling the camera to acquire images of the fruit at different viewing angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911305392.1A CN110926368A (en) | 2019-12-16 | 2019-12-16 | Fruit attitude image acquisition device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911305392.1A CN110926368A (en) | 2019-12-16 | 2019-12-16 | Fruit attitude image acquisition device |
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| Publication Number | Publication Date |
|---|---|
| CN110926368A true CN110926368A (en) | 2020-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911305392.1A Pending CN110926368A (en) | 2019-12-16 | 2019-12-16 | Fruit attitude image acquisition device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114488664A (en) * | 2022-03-21 | 2022-05-13 | 厦门大学 | Electronic information engineering image acquisition processing apparatus |
| CN114658994A (en) * | 2022-02-25 | 2022-06-24 | 中国地质大学（武汉） | Automatic rotatory graphoscope support and computer |
-
2019
- 2019-12-16 CN CN201911305392.1A patent/CN110926368A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114658994A (en) * | 2022-02-25 | 2022-06-24 | 中国地质大学（武汉） | Automatic rotatory graphoscope support and computer |
| CN114488664A (en) * | 2022-03-21 | 2022-05-13 | 厦门大学 | Electronic information engineering image acquisition processing apparatus |
| CN114488664B (en) * | 2022-03-21 | 2023-12-29 | 厦门大学 | Electronic information engineering image acquisition processing device |
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