CN114303643A - Automatic grabbing system based on machine vision recognition - Google Patents

Abstract

The invention discloses an automatic grabbing system based on machine vision recognition, which comprises a vehicle frame, two sides of the vehicle frame are provided with moving devices, and the vehicle frame is further provided with a control center, a clamping device and a collection device. The clamping device includes a clamping claw, a horizontal rotation mechanism for adjusting the position of the clamping claw, a height adjustment mechanism and a length adjustment mechanism, and the height adjustment mechanism and the length adjustment mechanism are uniformly installed on the horizontal rotation mechanism. A visual recognition device is provided on the clamping device. Electrical connections are used between the mobile device, the visual identification device, the holding device and the control center. The grabbing system can be used for picking, and its response speed and operation time are beyond the reach of manpower, which greatly improves the picking efficiency. In addition, the horizontal rotation mechanism, the height adjustment mechanism and the length adjustment mechanism can precisely adjust the position of the clamping claws from multiple angles, so that the fruit branches and leaves can be flexibly avoided and the damage to the fruit trees caused by picking is minimized.

Description

An automatic grasping system based on machine vision recognition

technical field

The invention relates to an automation system, in particular to an automatic grasping system based on machine vision recognition.

Background technique

At present, the picking and picking methods in the planting industry are single, mostly manual picking. If mechanical picking and picking can be used, it will greatly improve efficiency, reduce costs, reduce missed picking, increase yield, and ensure quality. At present, the agricultural machinery that has appeared and applied has been relatively comprehensive, but most of them are large in size, high in cost, and cause great damage to the trees themselves. Small-scale automatic grabbing and picking machines, which only pick fruits without human intervention, take up less space, are flexible in picking, and use clean energy such as electricity, have less impact on the environment, and will be a new development direction.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide an automatic grasping system based on machine vision recognition, which can effectively solve the problems in the background technology.

In order to achieve the above object, the technical solution adopted in the present invention is: an automatic grasping system based on machine vision recognition, which is characterized in that it includes a vehicle frame, the two sides of the vehicle frame are provided with moving devices, and the vehicle frame is also Equipped with a control center, a clamping device and a collection device. The clamping device includes a clamping claw, a horizontal rotation mechanism for adjusting the position of the clamping claw, a height adjustment mechanism and a length adjustment mechanism, and the height adjustment mechanism and the length adjustment mechanism are uniformly installed on the horizontal rotation mechanism. The clamping device is provided with a visual identification device; the moving device, the visual identification device, the clamping device and the control center are electrically connected. The method for grasping by using the above system includes the following steps: 1. Identify and locate the object to be grasped by the visual recognition device, and then transmit the position information of the object to the control center; 2. The control center obtains the object to be grasped After the position information of the block, the automatic grasping system is first moved to the grasping range of the clamping device by controlling the moving device, and then the horizontal rotation mechanism, height adjustment mechanism and length adjustment mechanism on the clamping device are adjusted by adjusting the clamping jaws. 3. The control center judges whether the block to be grasped is successfully grasped by the state of the clamping claw, if it is judged that the grasping fails, it controls the horizontal rotation mechanism, height adjustment mechanism and The length adjustment mechanism makes the gripping claw return to the initial position, and then repositions the object to be grasped through the visual recognition device, further controls the moving device to move, and then controls the gripping device to re-grip; If successful, the control center controls the horizontal rotation mechanism, the height adjustment mechanism and the length adjustment mechanism to make the gripping claw move the object block into the collecting device.

Further, the horizontal rotation mechanism includes a first steering gear bracket fixed on the vehicle frame, a vertically placed first steering gear is installed inside the first steering gear bracket, and the rotating shaft of the first steering gear passes upward. It passes through the top surface of the first steering gear bracket and is connected with a rotating platform.

Further, the height adjustment mechanism includes a second steering gear bracket fixed on the rotating platform, a horizontal rotating shaft is fixed on the side of the second steering gear bracket, and a mechanical rear arm is rotatably connected to the horizontal rotating shaft. A second steering gear is also installed on the side of the second steering gear bracket, and the second steering gear rotating shaft vertically passes through the side wall of the second steering gear bracket and is connected with a rear arm link, and the front end of the rear arm link rotates It is connected to the first corner of the triangular block, and the second corner of the triangular block is rotatably connected to the front end of the mechanical rear arm.

Further, the length adjustment mechanism includes a third steering gear bracket fixed on the rotating platform, a third steering gear is installed on the side of the third steering gear bracket, and the rotation axis of the third steering gear vertically passes through the third steering gear. The side wall of the bracket is connected with a rotating link, the end of the rotating link is rotatably connected with the end of the forearm link, the front end of the forearm link is rotatably connected with the mechanical forearm, and the middle part of the mechanical forearm is connected with the front end of the mechanical rear arm. In rotational connection, the connection point between the forearm link and the mechanical forearm and the connection point between the mechanical rear arm and the mechanical forearm are not coincident. The third corner of the triangular block is rotatably connected to the end of the driven link, and the front end of the driven link is rotatably connected to the front end of the mechanical forearm.

Further, the clamping claw includes a clamping bracket fixed on either the height adjustment mechanism or the length adjustment mechanism. Two rotating gears, the rotating shaft of the holding steering gear vertically passes through the holding bracket and is coaxially connected to one of the rotating gears, one side of each rotating gear is respectively connected with a claw arm, and each claw arm passes through the two rotating gears. The clamping link is rotatably connected with the clamping bracket.

Further, the visual recognition device is a monocular camera mounted on the clamping device.

Further, the collection device is a collection bucket fixed on the frame.

Further, the moving device includes moving wheels installed on both sides of the vehicle frame and crawler tracks sleeved on the moving wheels, and the moving wheels are driven by a motor provided in the vehicle frame.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention includes a frame with moving devices on both sides of the frame. In addition, the frame is also provided with a clamping device, and the clamping device is also provided with a visual recognition device. The above three devices are all electrically connected to the control center. Connection, the control center analyzes the signal transmitted by the visual recognition device, and then sends a signal to the moving device and the clamping device, so as to accurately move the object to be grasped into the collecting device. This series of processes are all automatic. Only the objects in the collection device need to be cleaned regularly manually, which effectively saves human resources. In addition, the response speed and operation time of the machine are beyond the reach of manpower, which greatly improves the picking efficiency.

2. In the present invention, the clamping device includes a clamping claw and a horizontal rotation mechanism for adjusting the position of the clamping claw, a height adjustment mechanism and a length adjustment mechanism. The height adjustment mechanism and the length adjustment mechanism are uniformly installed on the horizontal rotation mechanism. The holding claw is installed on either the height adjustment mechanism or the length adjustment mechanism, which can realize the multi-angle precise adjustment of the clamping claw, flexibly avoid the fruit branches and leaves, and minimize the damage to the fruit tree due to picking.

3. The automatic grabbing system in the present invention is composed of relatively low-priced components, including steering gear, monocular camera, etc., which is convenient for users to purchase in large quantities, reduces their cost expenditure, and maximizes production efficiency.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the front structure schematic diagram of the present invention;

Figure 3 is a schematic diagram of the structure of the right side of the clamping device of the present invention;

4 is a schematic diagram of the left side structure of the clamping device of the present invention;

FIG. 5 is a schematic view of the structure of the clamping claw of the present invention.

In the figure: 1. Moving wheel; 2. Track; 3. Collecting bucket; 4. Frame; 5. Control center; 6. First steering gear bracket; 7. First steering gear; 8. Monocular camera module; 9 , clamping steering gear; 10, triangle block; 11, driven link; 12, mechanical front arm; 13, rear arm link; 14, mechanical rear arm; 15, second steering gear; 16, forearm link; 17 , rotating connecting rod; 18, the third steering gear; 19, clamping bracket; 20, rotating gear; 21, clamping connecting rod; 22, claw arm.

Detailed ways

In order to make the technical means, creative features, achievement goals and effects realized by the present invention easy to understand, the present invention will be further described below with reference to the specific embodiments.

As shown in Figures 1-5, an automatic grasping system based on machine vision recognition includes a frame 4, and moving devices are provided on both sides of the frame 4. The moving devices include moving wheels 1 installed on both sides of the frame 4 and The crawler belt 2 is sleeved on the moving wheel 1 , and the moving wheel 1 is driven by a motor provided in the frame 4 .

The frame 4 is also provided with a control center 5 , a clamping device and a collection device, and the collection device is a collection bucket 3 fixed on the frame 4 . The clamping device includes a clamping claw, a horizontal rotation mechanism for adjusting the position of the clamping claw, a height adjustment mechanism and a length adjustment mechanism, and the height adjustment mechanism and the length adjustment mechanism are uniformly installed on the horizontal rotation mechanism. The horizontal rotation mechanism includes a first steering gear bracket 6 fixed on the vehicle frame 4, and a vertically placed first steering gear 7 is installed inside the first steering gear bracket 6, and the rotating shaft of the first steering gear 7 passes through the first steering gear upwardly. The top surface of the machine bracket 6 is connected with a rotating platform. The height adjustment mechanism includes a second steering gear bracket fixed on the rotating platform, a horizontal rotating shaft is fixed on the side of the second steering gear bracket, and a mechanical rear arm 14 is rotatably connected to the horizontal rotating shaft. A second steering gear 15 is also installed on the side of the second steering gear bracket. The rotation axis of the second steering gear 15 vertically passes through the side wall of the second steering gear bracket and is connected with a rear arm connecting rod 13. The front end of the rear arm connecting rod 13 is rotatably connected to the The first corner of the triangular block 10 and the second corner of the triangular block 10 are rotatably connected to the front end of the mechanical rear arm 14 . The length adjustment mechanism includes a third steering gear bracket fixed on the rotating platform, a third steering gear 18 is mounted on the side of the third steering gear bracket, and the rotation axis of the third steering gear 18 vertically passes through the side wall of the third steering gear bracket and is connected with a rotating gear. The connecting rod 17, the end of the rotating link 17 is rotatably connected with the end of the forearm link 16, the front end of the forearm link 16 is rotatably connected with the mechanical forearm 12, the middle of the mechanical forearm 12 is rotatably connected with the front end of the mechanical rear arm 14, and the forearm link The connection point of 16 with the robotic forearm 12 and the connection point of the robotic rear arm 14 with the robotic forearm 12 do not coincide. The third corner of the triangular block 10 is rotatably connected to the end of the driven link 11 , and the front end of the driven link 11 is rotatably connected to the front end of the mechanical forearm 12 . The clamping claw includes a clamping bracket 19 fixed on the front end of the mechanical forearm 12 , the clamping rudder 9 is fixed on the top surface of the clamping bracket 19 , and two rotating gears 20 meshing with each other are installed on the bottom surface of the clamping bracket 19 , and the rotation axis of the clamping rudder 9 is vertical. After passing through the clamping bracket 19, it is coaxially connected to one of the rotating gears 20. One side of each rotating gear 20 is rotatably connected with a claw arm 22, and each claw arm 22 is rotatably connected to the clamping bracket 19 through the clamping link 21. . A visual recognition device is provided on the clamping claw, and the visual recognition device is a monocular camera 8 installed on the top surface of the clamping bracket 19 . Among them, electrical connections are used between the motor in the mobile device, the monocular camera 8 and a series of steering gears in the clamping device and the control center 5 .

It should be noted that the working principle of an automatic grasping system based on machine vision recognition of the present invention includes the following steps:

1. Identify and locate the object to be grasped through the monocular camera 8, and then transmit the position information of the object to the control center (5);

2. After the control center (5) obtains the position information of the object to be grasped, it first drives the moving wheel 1 by controlling the motor arranged in the frame, and the moving wheel 1 moves the automatic grasping system to the grasping device of the clamping device. within the range. Wherein, depending on the ground environment, the movable wheel 1 can be selectively sleeved with a crawler 2 . Then, according to the position adjustment command of the control center (5), the first steering gear 7 drives the rotating platform to start to rotate, and the rotating platform drives the height adjustment mechanism and the length adjustment mechanism to adjust the horizontal direction. After the horizontal adjustment is completed, the second steering gear 15 drives the rear wall connecting rod 13 to rotate, and the rear arm connecting rod 13 drives the mechanical rear arm 14 to rotate together through the triangular block 10, so that the height of the front end of the mechanical rear arm 14 can be adjusted. After the height adjustment is completed, the third steering gear 18 drives the forearm link 16 to reciprocate through the rotating link 17 . In connection, when the forearm link 16 pushes and pulls the mechanical forearm 12, the mechanical forearm 12 will expand and contract with the connection point of the front and rear arms as the fulcrum, so as to adjust the overall length of the mechanical arm. When the level, the height and the length are adjusted, the clamping claw just moves to the position of the object to be grasped. At this time, the clamping steering gear 9 drives the rotating gear 20 to rotate, and the rotating gear 20 drives the claw arms 22 on both sides to move, and the claw arms 22 The clamping movement is performed with the clamping link 21 rotatably connected with the clamping bracket 19 as a support rod.

3. The control center (5) judges whether the block to be grasped is successfully grasped by the state of the clamping claw. If it is judged that the grasping fails, the clamping claw is controlled by the above-mentioned horizontal rotation mechanism, height adjustment mechanism and length adjustment mechanism. Return to the initial position, and then use the monocular camera 8 to reposition the object to be grasped, further control the moving wheel 1 to move, and then control the clamping device to grasp again; if it is judged that the grasped object is successful, the control center (5) By controlling the horizontal rotation mechanism, the height adjustment mechanism and the length adjustment mechanism, the clamping claw moves the object block into the collecting bucket 3 .

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the description are only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have Various changes and modifications fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (8)

1. The utility model provides an automatic grasping system based on machine vision discernment which characterized in that: the device comprises a frame (4), wherein moving devices are arranged on two sides of the frame (4), and a control center (5), a clamping device and a collecting device are further arranged on the frame (4); the clamping device comprises a clamping claw, a horizontal rotating mechanism for adjusting the position of the clamping claw, a height adjusting mechanism and a length adjusting mechanism, wherein the height adjusting mechanism and the length adjusting mechanism are uniformly arranged on the horizontal rotating mechanism; the clamping device is provided with a visual identification device; the mobile device, the visual recognition device, the clamping device and the control center (5) are electrically connected; the method for grabbing by adopting the system comprises the following steps:

firstly, identifying and positioning an object block to be grabbed through a visual identification device, and then transmitting the position information of the object block to a control center (5);

after the control center (5) acquires the position information of the object block to be grabbed, firstly, the automatic grabbing system is moved to the grabbing range of the clamping device through the control moving device, and then the horizontal rotating mechanism, the height adjusting mechanism and the length adjusting mechanism on the clamping device grab the object block to be grabbed by adjusting the positions of the clamping claws;

thirdly, the control center (5) judges whether the object to be grabbed is successfully grabbed or not according to the state of the clamping jaws, if the grabbing is judged to be failed, the clamping jaws return to the initial position by controlling the horizontal rotating mechanism, the height adjusting mechanism and the length adjusting mechanism, then the object to be grabbed is repositioned by the visual recognition device, the moving device is further controlled to move, and then the clamping device is controlled to grab again; if the object block is successfully grabbed, the control center (5) controls the horizontal rotating mechanism, the height adjusting mechanism and the length adjusting mechanism to enable the clamping claws to move the object block into the collecting device.

2. The automatic grabbing system based on machine vision recognition of claim 1, characterized in that: horizontal rotating mechanism is including fixing first steering wheel support (6) on frame (4), first steering wheel support (6) internally mounted has vertical first steering wheel (7) of placing, the pivot of first steering wheel (7) upwards passes first steering wheel support (6) top surface and is connected with rotary platform.

3. The automatic grabbing system based on machine vision recognition of claim 2, characterized in that: the height adjusting mechanism comprises a second steering engine support fixed on the rotary platform, a horizontal rotating shaft is fixed on the side surface of the second steering engine support, and a mechanical rear arm (14) is rotatably connected to the horizontal rotating shaft; second steering wheel (15) are still installed to second steering wheel support side, second steering wheel (15) pivot is perpendicular to be passed second steering wheel support lateral wall and is connected with trailing arm connecting rod (13), the front end of trailing arm connecting rod (13) is rotated and is connected in the first angle of three hornblocks (10), and the second angle of three hornblocks (10) is then rotated and is connected in the front end of mechanical trailing arm (14).

4. The automatic grabbing system based on machine vision recognition of claim 3, characterized in that: the length adjusting mechanism comprises a third steering engine support fixed on a rotating platform, a third steering engine (18) is installed on the side face of the third steering engine support, a rotating shaft of the third steering engine (18) vertically penetrates through the side wall of the third steering engine support and is connected with a rotating connecting rod (17), the tail end of the rotating connecting rod (17) is rotatably connected with the tail end of a front arm connecting rod (16), the front end of the front arm connecting rod (16) is rotatably connected with a mechanical front arm (12), the middle part of the mechanical front arm (12) is rotatably connected with the front end of a mechanical rear arm (14), and a connecting point of the front arm connecting rod (16) and the mechanical front arm (12) and a connecting point of the mechanical rear arm (14) and the mechanical front arm (12) are not overlapped; the third angle of triangle piece (10) is gone up the end of rotating the connection driven connecting rod (11), the front end of driven connecting rod (11) with machinery forearm (12) front end rotates and is connected.

5. The automatic grabbing system based on machine vision recognition of claim 1, characterized in that: the clamping jaw comprises a clamping support (19) fixed to any mechanism of the height adjusting mechanism or the length adjusting mechanism, a clamping steering engine (9) is fixed to the top surface of the clamping support (19), two rotating gears (20) meshed with each other are installed on the bottom surface of the clamping support, a rotating shaft of the clamping steering engine (9) penetrates through the clamping support (19) perpendicularly and then is coaxially connected with one rotating gear (20), a jaw arm (22) is connected to one side of each rotating gear (20) in a rotating mode, and each jaw arm (22) is connected with the clamping support (19) in a rotating mode through a clamping connecting rod (21) respectively.

6. The automatic grabbing system based on machine vision recognition of claim 1, characterized in that: the visual recognition device is a monocular camera (8) mounted on the clamping device.

7. The automatic grabbing system based on machine vision recognition of claim 1, characterized in that: the collecting device is a collecting bucket (3) fixed on the frame (4).

8. The automatic grabbing system based on machine vision recognition of claim 1, characterized in that: the moving device comprises moving wheels (1) arranged on two sides of the frame (4) and a crawler belt (2) sleeved on the moving wheels (1), wherein the moving wheels (1) are driven by a motor arranged in the frame (4).

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