CN112485140A - Fruit hardness sensor integrated on flexible finger - Google Patents
Fruit hardness sensor integrated on flexible finger Download PDFInfo
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- CN112485140A CN112485140A CN202011227908.8A CN202011227908A CN112485140A CN 112485140 A CN112485140 A CN 112485140A CN 202011227908 A CN202011227908 A CN 202011227908A CN 112485140 A CN112485140 A CN 112485140A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/40—Investigating hardness or rebound hardness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
- G01N3/04—Chucks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
- G01N3/06—Special adaptations of indicating or recording means
- G01N3/068—Special adaptations of indicating or recording means with optical indicating or recording means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0058—Kind of property studied
- G01N2203/0076—Hardness, compressibility or resistance to crushing
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Abstract
The invention provides a fruit hardness sensor integrated on a flexible finger. Including interface, flexible finger, optic fibre and hardness information acquisition device, hardness information acquisition device is integrated at the fingertip, and the most advanced of flexible finger abdomen one side is equipped with the base, and flexible finger root connection interface, flexible finger are inside to be equipped with optic fibre, and the inside air cavity that is equipped with of finger back of flexible finger, flexible finger are equipped with the base in finger abdomen one side. The flexible finger is provided with the air cavity, so that the flexible finger can quickly and nondestructively realize grabbing action, has a good grabbing effect on fruits close to a sphere, can also realize self-adaptive fitting on fruits with other shapes, can greatly reduce the volume of a real-time detection system, effectively reduces the detection time of a single detected object, is convenient for real-time operation in the field, has a simple structure and reduces the cost.
Description
Technical Field
The invention relates to a fruit performance parameter detection sensor in the field of sensors, in particular to a fruit hardness sensor integrated on a flexible finger.
Background
Fruits are one of important agricultural products, the fruit industry is the third largest prop industry next to food and vegetables in the planting industry as a labor-intensive industry, the annual output reaches hundreds of millions of tons, and the fruit industry plays a very important role in national economy in China. 20% -30% of fruits are wasted every year due to various reasons, wherein the waste caused by improper picking period, overlong storage time, transportation damage and the like accounts for a large proportion. If a portable instrument capable of detecting the fruit maturity in real time in places such as orchards and supermarkets can be provided, fruit growers and dealers can reasonably judge the fruit harvesting period, the shelf life and the like, and the current fruit waste situation can be effectively improved.
The hardness of fruits at different maturity stages varies. Therefore, the hardness is one of the important indexes for evaluating the maturity of the fruits and has an important function for guiding the picking, storage, transportation and processing of the fruits. In order to ensure the fruit quality from the source, conveniently determine the picking time and subsequent management of the fruit, produce better fruit, develop the portable fruit hardness detection equipment with simple operation and accurate measurement, and have great significance.
Currently, the hardness of fruits is generally measured by using a hardness meter or by using acoustic properties, dielectric properties and the like. However, these methods are all used to measure the hardness of the fruit after picking. Moreover, most of the detection equipment utilizing the characteristics of the biological materials does not meet the field detection conditions: 1. the volume is small and the weight is light; 2. a dry battery and other direct current power supplies; 3. the equipment can effectively work when being placed in an uneven way; it is also not suitable for the mature discrimination of fruit on trees: when the hardness of the fruits is detected to be not in accordance with the picking requirement, the fruits can not be picked, so that the waste can be effectively avoided from the source. In addition, the whole detection process is divided into two steps of grabbing (or fixing, placing and the like) and detecting, and the required time is too long. For part of the fruits with unqualified quality, the fruits need to be further removed, and the processing cost is increased. According to NY/T2009-2011 'determination of fruit hardness', a hand-held fruit hardness tester is used, a part of epidermis on the surface of a fruit needs to be cut off, and then measurement is carried out, which belongs to destructive measurement.
The flexible finger made of materials with lower elastic modulus such as silica gel and rubber can be used as an executive device for grabbing fruits. Compare with traditional rigidity mechanical finger, can effectively avoid causing surface damage when snatching fruit. The flexible finger is cast, cured and molded to obtain a finger body and an air cavity formed in the finger body, and the working mode of the flexible finger is based on fluid variable pressure driving. Generally, fluid (gas and the like) is used as a driving medium, the pressure inside the flexible device is changed, and the difference between the internal pressure and the external pressure is realized, so that the driving is realized. The flexible finger generally comprises an interface for air intake, a knuckle connected with the interface, a corresponding air cavity, and an air flow passage communicated with the air cavity and the interface.
Integrate fruit hardness sensor in flexible finger, just can realize detecting in the stage of snatching, can effectively shorten the check-out time, also can effectively prevent fruit surface damage simultaneously, realize quick nondestructive test.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a fruit hardness sensor integrated on a flexible finger. The external single chip microcomputer and the air pump control the bending and relaxing states of the flexible fingers. The hardness information acquisition device is integrated on the fingertip of the finger, and the optical fiber inside the finger transmits the information acquired by the hardness information acquisition device to an external computer for analyzing the hardness of the fruit. The flexible finger is assembled on the mechanical arm through an interface which is easy to disassemble, and replacement and maintenance are convenient.
The technical scheme of the invention is as follows:
fruit hardness sensor integrated on flexible finger
The invention comprises an interface, a flexible finger, an optical fiber and a hardness information acquisition device, wherein the hardness information acquisition device is integrated on the fingertip of the flexible finger, the tip of one side of the finger abdomen of the flexible finger is provided with a base, the root of the flexible finger is connected with the interface, the optical fiber is arranged inside the flexible finger, the inside of the finger back of the flexible finger is provided with an air cavity which is communicated with each other, and the base matched with the hardness information acquisition device is arranged on one side of the finger abdomen of the flexible finger.
The hardness information acquisition device comprises a camera, an LED lamp, a metal powder reflection layer, a marker, a silica gel contact body, a supporting plate, a shell and a support, wherein the silica gel contact body is fixedly connected to the supporting plate through a silica gel adhesive; the LED lamp is divided into red, blue and green lamps, the red, blue and green lamps are installed through respective supports and are uniformly irradiated on the silica gel contact body at intervals in the circumference, and images are formed on the metal powder reflecting layer.
The marker is adhered to the outer surface of the silica gel contact body through water transfer paper; the marker is composed of an array of single simple geometric patterns.
The silica gel contact body and the supporting plate are made of transparent materials.
The base is positioned on one side of the finger abdomen and close to the tip of the flexible finger, a round hole is formed in the center of the hardness information acquisition device, and the base is arranged in the round hole; the optical fiber is integrated on one side of the finger belly, the optical fiber is connected with the camera, the optical fiber starts from the base, penetrates through the inside of one side of the finger belly of the flexible finger, penetrates out of a small hole reserved in advance at the interface end of the flexible finger and then is connected to the external source computer.
The outer surface of the interface is designed with threads which are connected to the tail end of the mechanical arm.
The air cavity is filled with air.
The flexible finger is in the direction vertical to the air flow passage of the air cavity, and the section of the finger ventral side is rectangular; the cross section of the back side of the finger is in a trapezoid shape, the cross section of the back side of the finger is in a periodic structure in the direction parallel to the airflow passage of the air cavity; airflow channels are arranged among the air cavities, a single airflow channel is adopted at the airflow inlet, and double airflow channels are adopted from the middle part of the airflow to the tail end of the airflow.
The air inlet end of the flexible finger is connected with an air source, and the air source exhausts air to enable the length of the flexible finger to gradually shrink along the direction of the air cavity channel.
Secondly, the fruit hardness sensor integrated on the flexible finger is applied to a method for grabbing an object and realizing detection, and the method comprises the following steps:
1) the screw thread on the outer surface of the interface is connected to the tail end of the mechanical arm, so that the fruit hardness sensor is fixed on the mechanical arm along with the flexible finger.
2) Utilize the single chip microcomputer control air pump of external source, fill the air cavity of flexible finger with gas, gas makes flat air cavity take place the inflation, extrudees each other between the adjacent air cavity, and the directional finger abdomen one side bending of flexible hand, flexible finger shows for crooked state, makes the inboard material that forms of flexible finger snatch the space, and along with flexible finger further bending, snatch the space and dwindle gradually, will be surveyed the fruit and press the silica gel contact body to the hardness information acquisition device of fingertip.
3) After the detected result is pressed to the silica gel contact body, the image on the metal powder reflecting layer can generate light intensity change, the marker attached to the outer surface of the silica gel contact body can also move, and the marker is unevenly distributed on the silica gel contact body; the light intensity change is little after the fruit is pressed, and the marker removes for a short time, reflects that fruit hardness is low, otherwise says that fruit hardness is high.
4) The camera in the hardness information acquisition device shoots the images of the tested fruit on the metal powder reflecting layers before and after the tested fruit is pressed on the silica gel contact body, then the images are transmitted to an external computer through an optical fiber connected with the camera, and the hardness of the tested fruit is obtained through image processing, analysis and modeling according to the light intensity change and the movement information of the marker.
The invention has the beneficial effects that:
the fruit hardness sensor provided by the invention realizes detection in a grabbing stage, the air cavity is designed in the flexible finger, the grabbing action can be realized quickly and nondestructively, the flexible finger has a good grabbing effect on fruits similar to a sphere, the flexible finger can also realize self-adaptive fitting on fruits with other shapes, meanwhile, the flexible finger is easy to assemble on a mechanical arm and convenient to replace and maintain through an easily-detachable interface, the size of a real-time detection system can be greatly reduced by utilizing the fruit hardness sensor integrated in the flexible finger, the detection time of a single detected object is effectively reduced, the field real-time operation is convenient, the structure is simple, and the cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram according to an embodiment of the present application;
FIG. 2 is a cross-sectional view of a plane A-A in which an optical fiber is located;
FIG. 3 is a top view of the appearance of a flexible finger viewed perpendicular to the direction of the airflow path;
FIG. 4 is a cross-sectional view B-B of FIG. 3, taken in full cross-section, integrated into a flexible finger;
FIG. 5 is a full sectional view of the chamber in the direction of the gas flow path;
fig. 6 is a schematic view of a hardness information acquiring apparatus according to an embodiment of the present application;
FIG. 7 is a cross-sectional view taken along line D-D of FIG. 6;
FIG. 8 is a partial view in the direction E of FIG. 7 with a label attached to the portion of the silicone contact body;
FIG. 9 is an image of a reflective layer of two different hardness fruits;
FIG. 10 is a pictorial view of a tag attached to a silicone contact body;
fig. 11 is a schematic diagram of the actual operation according to the embodiment of the present application.
In the figure, a flexible finger 1, an air cavity 101, a base 102, a mechanical arm 12, an interface 2, an optical fiber 3, a hardness information acquisition device 4, a metal powder reflection layer 501, a marker 502, a silica gel contact 6, an LED lamp 7, a support plate 8, a shell 9, a camera 10, a bracket 11, an external source mechanical arm 12, an external source computer 13, a single chip microcomputer 14, an air pump 15 and a grabbing space 00 are arranged.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the invention comprises an interface 2, a flexible finger 1, an optical fiber 3 and a hardness information acquisition device 4, wherein the interface 2 is used for filling gas and is fixedly connected to an external mechanical arm 12, the hardness information acquisition device 4 is integrated on a fingertip of the flexible finger 1, the hardness information acquisition device 4 is provided with a base 102, the root of the flexible finger 1 is connected with the interface 2, the optical fiber 3 is arranged inside the flexible finger 1, an air cavity 101 which is mutually communicated is arranged inside a finger back of the flexible finger 1, and the base 102 which is matched with the hardness information acquisition device 4 is arranged on one side of a finger belly of the flexible finger 1.
As shown in fig. 4, 6 and 7, the hardness information acquiring device 4 includes a camera 10, an LED lamp 7, a metal powder reflective layer 501, a marker 502, a silicone contact 6, a support plate 8, a housing 9 and a bracket 11, the silicone contact 6 is fixedly connected to the support plate 8 through a silicone adhesive, the support plate 8 is fixed to the bracket 11, the marker 502 is disposed between the silicone contact 6 and the metal powder reflective layer 501, the camera 10 is disposed on the bracket 11, the LED lamp 7 is fixed to the housing 9, and the housing 9 is fixed to the bracket 11; LED lamp 7 divide into red, blue, green three lamp, and two liang of intervals 120 degrees of three lamp, red, blue, green three lamp are through respective support 11 installation to shine on silica gel contact 6 with circumference interval equipartition, form the image on metal powder reflection stratum 501, the silica gel contact 6 and the backup pad 8 of specific implementation all adopt transparent material.
As shown in fig. 8, the marker 502 is adhered to the outer surface of the silicone contact body 6 by water transfer paper; the marker 502 is formed of a simple geometric figure having a length and width dimension that is greater than the length and width dimension of the figure itself.
As shown in fig. 2 and 4, the base 102 is positioned at one side of the finger belly and close to the tip of the flexible finger 1, a circular hole is formed in the center of the hardness information acquiring device 4, and the base 102 is placed in the circular hole; the optical fiber 3 is integrated on the finger pulp side, the optical fiber 3 is connected with the camera 10, the optical fiber 3 starts from the base 102, passes through the inside of the finger pulp side of the flexible finger 1, and passes through a small hole reserved in the interface end of the flexible finger 1 to be connected with the external source computer 13. The hardness information acquisition device 4 is connected with the flexible finger 1 by a silica adhesive, so that the hardness information acquisition device 4 can be firmly fixed on the flexible finger 1 and can change the position along with the change of the grabbing gesture of the finger.
As shown in fig. 1 and 11, the outer surface of the interface 2 is designed with screw threads, the screw threads are connected to the tail end of the mechanical arm 12, the disassembly and assembly are convenient, and the height of the screw threads is not less than the width of the profile curve of the back side of the flexible finger in one period in the direction parallel to the airflow passage of the cavity.
As shown in fig. 3 and 5, the flexible finger 1 has a rectangular cross section on the finger ventral side in the direction perpendicular to the air flow path of the air cavity 101; the cross section of the back side of the finger is trapezoidal, and the cross section of the back side of the finger is of a periodic structure in the direction parallel to the airflow passage of the air cavity 101 by the flexible finger 1; airflow channels are arranged among the air cavities 101, a single airflow channel is adopted at an airflow inlet, and double airflow channels are adopted from the middle part of airflow to the tail end of airflow. The back side profile of the finger back side is of a periodic structure, in a profile period, the profile comprises two profile arcs and two connecting arcs, the curvature of any position of the two connecting arcs is not smaller than that of any position of the two profile arcs, the two connecting arcs have certain width in the direction of a cavity airflow passage, the curvatures of the two connecting arcs are equal, the two profile arcs belong to the same ellipse, the connecting position of the profile arcs of the flexible finger 1 is smooth, and the height of the connecting arcs in the direction perpendicular to the cavity airflow passage is smaller than 1/5 of the height of the profile arcs.
As shown in fig. 4, the air cavity 101 is a periodic structure, in one period, in the direction parallel to the airflow path of the cavity, the cross-sectional profile of the upper portion of the air cavity 101 includes two sections of profile arcs and a section of connecting arc, the cross-sectional profile of the lower portion of the air cavity 101 is mainly formed by a rectangle with rounded corners, the curvature of any one of the two sections of profile arcs is not less than that of any one of the two sections of profile arcs, and the connecting arc has a certain width between the two sections of profile arcs.
The air inlet interface end of the flexible finger 1 is connected with an air source, and the air source exhausts air to enable the length of the flexible finger 1 to gradually shrink along the direction of the air cavity channel. The air cavity 101 of the embodiment is filled with air.
Fig. 9 shows images of the reflective layer (with the markers removed) for two different hardness fruits, wherein (a) the image is the original image, (b) the image is the unripe black burlin (harder) pressed image, and (c) the image is the ripe black burlin (softer) pressed image.
Fig. 10 is a pictorial image of a marker 502 attached to a silicone contact 6.
As shown in fig. 11, the fruit hardness sensor integrated with the flexible finger is applied to a method for grabbing an object and realizing detection, and comprises the following steps:
1) the screw thread on the outer surface of the interface 2 is connected to the end of the robot arm 12 so that the fruit firmness sensor is attached to the robot arm 12 with the flexible finger 1.
2) Utilize exogenous singlechip 14 control air pump 15, fill the air cavity 101 of flexible finger 1 with gas, the gas of certain pressure makes flat air cavity 101 take place the inflation, extrudees each other between the adjacent air cavity 101, and flexible finger 1 is crooked to indicate one side of the finger abdomen, and flexible finger 1 shows to be crooked state, makes the inboard material that forms of flexible finger 1 snatch space 00, and along with flexible finger 1 further crooked, snatch space 00 and dwindle gradually, the silica gel contact 6 of hardness information acquisition device 4 that will be surveyed the fruit pressure to the fingertip.
3) After the detected result is pressed to the silica gel contact body 6, the light intensity of the image on the metal powder reflecting layer 501 changes, the markers 502 attached to the outer surface of the silica gel contact body 6 also move, and the markers 502 are unevenly distributed on the silica gel contact body 6; the light intensity change is little after the fruit is pressed, and the marker removes for a short time, reflects that fruit hardness is low, otherwise says that fruit hardness is high.
4) The camera 10 in the hardness information acquiring device 4 takes images of the measured fruit on the metal powder reflecting layer 501 before and after the measured fruit is pressed on the silica gel contact body 6, then the images are transmitted to the external computer 13 through the optical fiber 3 connected with the camera 10, and the hardness of the measured fruit is obtained through image processing, analysis and modeling according to the light intensity change and the movement information of the marker 502.
When fruits are not detected, the light intensity of the image on the metal powder reflecting layer 501 does not change, and the markers 502 are uniformly distributed on the silica gel contact body 6, when fruits are detected, the image on the metal powder reflecting layer 501 can change in light intensity, and the markers 502 are non-uniformly distributed on the silica gel contact body 6, so that the hardness of the detected fruits is obtained through the change of the light intensity of the image on the metal powder reflecting layer 501 and the fact that whether the markers 502 are non-uniformly distributed on the silica gel contact body 6.
The invention has good grabbing effect on the approximate sphere, can realize self-adaptive fitting on objects with other shapes, and can detect and analyze the quality of the detected object after being loaded with the detection device.
It should be noted that the present invention is primarily intended to mean that the plane of the finger pulp refers to the plane on the side of the finger pulp in a flat state, and that the finger pulp is not in a flat state when inflated or in some other state.
Further, if the hardness information acquisition device is replaced with an information acquisition device of other quality, the present invention can also be used to detect other properties of the fruit, such as sugar degree, acidity, and the like.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. The utility model provides an integrate in flexible finger's fruit hardness sensor which characterized in that: including interface (2), flexible finger (1), optic fibre (3) and hardness information acquisition device (4), hardness information acquisition device (4) integration is at the fingertip of flexible finger (1), the most advanced of flexible finger (1) finger abdomen one side is equipped with base (102), interface (2) are connected to flexible finger (1) root, inside optic fibre (3) that is equipped with of flexible finger (1), inside air cavity (101) that link up each other that are equipped with of the back of the finger of flexible finger (1), flexible finger (1) be equipped with in finger abdomen one side with hardness information acquisition device (4) assorted base (102).
2. The flexible finger integrated fruit firmness sensor according to claim 1, wherein: the hardness information acquisition device (4) comprises a camera (10), an LED lamp (7), a metal powder reflecting layer (501), a marker (502), a silica gel contact body (6), a support plate (8), a shell (9) and a support (11), wherein the silica gel contact body (6) is fixedly connected to the support plate (8) through a silica gel adhesive, the support plate (8) is fixed on the support (11), the marker (502) is arranged between the silica gel contact body (6) and the metal powder reflecting layer (501), the camera (10) is arranged on the support (11), the LED lamp (7) is fixed on the shell (9), and the shell (9) is fixed on the support (11); the LED lamp (7) is divided into three lamps of red, blue and green, the three lamps of red, blue and green are installed through respective supports (11) and are uniformly irradiated on the silica gel contact body (6) at intervals of the circumference, and images are formed on the metal powder reflecting layer (501).
3. The flexible finger integrated fruit firmness sensor according to claim 2, wherein: the marker (502) is adhered to the outer surface of the silica gel contact body (6) through water transfer paper; the marker (502) is comprised of an array of simple geometric patterns.
4. The flexible finger integrated fruit firmness sensor according to claim 2, wherein: the silica gel contact body (6) and the support plate (8) are made of transparent materials.
5. The flexible finger integrated fruit firmness sensor according to claim 1, wherein: the base (102) is positioned on one side of the finger belly and close to the tip of the flexible finger (1), a round hole is formed in the center of the hardness information acquisition device (4), and the base (102) is arranged in the round hole; the optical fiber (3) is integrated on the finger pulp side, the optical fiber (3) is connected with the camera (10), the optical fiber (3) starts from the base (102), penetrates through the inside of the finger pulp side of the flexible finger (1), penetrates out of a small hole reserved in advance at the interface end of the flexible finger (1) and then is connected to the external source computer (13).
6. The flexible finger integrated fruit firmness sensor according to claim 1, wherein: the outer surface of the interface (2) is designed with screw threads which are connected to the tail end of the mechanical arm (12).
7. The flexible finger integrated fruit firmness sensor according to claim 1, wherein: the air cavity (101) is filled with air.
8. The flexible finger integrated fruit firmness sensor according to claim 1, wherein: the flexible finger (1) is in the direction vertical to the airflow passage of the air cavity (101), and the section of the finger ventral side is rectangular; the cross section of the back side of the finger is trapezoidal, the cross section of the back side of the finger is of a periodic structure in the direction parallel to the airflow passage of the air cavity (101) of the flexible finger (1); airflow channels are arranged among the air cavities (101), a single airflow channel is adopted at an airflow inlet, and double airflow channels are adopted from the middle part of airflow to the tail end of airflow.
9. The flexible finger integrated fruit firmness sensor according to claim 1, wherein:
the air inlet interface end of the flexible finger (1) is connected with an air source, and the air source exhausts air to enable the length of the flexible finger (1) to gradually shrink along the direction of the air cavity channel.
10. The method for grabbing an object and realizing detection by using the fruit hardness sensor integrated with flexible finger according to any one of claims 1-9, characterized in that: the method comprises the following steps:
1) connecting the thread on the outer surface of the interface (2) to the tail end of the mechanical arm (12) so that the fruit hardness sensor is fixed on the mechanical arm (12) along with the flexible finger (1);
2) the air pump (15) is controlled by an external single chip microcomputer (14), air is filled into the air cavities (101) of the flexible fingers (1), the flat air cavities (101) are expanded by the air, the adjacent air cavities (101) are mutually extruded, the flexible fingers (1) bend towards the finger belly side, the flexible fingers (1) are in a bending state, a material grabbing space (00) is formed on the inner side of each flexible finger (1), the grabbing space (00) is gradually reduced along with the further bending of the flexible fingers (1), and the tested fruits are pressed to the silica gel contact body (6) of the hardness information acquisition device (4) of the fingertip;
3) after the detected result is pressed to the silica gel contact body (6), the light intensity of the image on the metal powder reflecting layer (501) changes, the markers (502) attached to the outer surface of the silica gel contact body (6) also move, and the markers (502) are unevenly distributed on the silica gel contact body (6);
4) a camera (10) in the hardness information acquisition device (4) shoots an image of the fruit to be detected on the silica gel contact body (6) on the metal powder reflection layer (501) before and after the fruit to be detected is pressed, then the image is transmitted to an external computer (13) through an optical fiber (3) connected with the camera (10), and the hardness of the fruit to be detected is obtained through image processing analysis and modeling according to the light intensity change and the movement information of the marker (502).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011227908.8A CN112485140B (en) | 2020-11-06 | 2020-11-06 | Fruit hardness sensor integrated on flexible finger |
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| CN202011227908.8A CN112485140B (en) | 2020-11-06 | 2020-11-06 | Fruit hardness sensor integrated on flexible finger |
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| CN112485140A true CN112485140A (en) | 2021-03-12 |
| CN112485140B CN112485140B (en) | 2022-02-18 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113733149A (en) * | 2021-09-02 | 2021-12-03 | 浙江大学 | Soft finger manipulator for sensing hardness of fruits and detection method |
| CN113834727A (en) * | 2021-09-02 | 2021-12-24 | 浙江大学 | Fruit maturity touch sensing device and detection method thereof |
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| CN113834727A (en) * | 2021-09-02 | 2021-12-24 | 浙江大学 | Fruit maturity touch sensing device and detection method thereof |
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