CN114303643A - Automatic grabbing system based on machine vision recognition - Google Patents
Automatic grabbing system based on machine vision recognition Download PDFInfo
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- CN114303643A CN114303643A CN202110632295.4A CN202110632295A CN114303643A CN 114303643 A CN114303643 A CN 114303643A CN 202110632295 A CN202110632295 A CN 202110632295A CN 114303643 A CN114303643 A CN 114303643A
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Abstract
The invention discloses an automatic grabbing system based on machine vision recognition, which comprises a frame, wherein moving devices are arranged on two sides of the frame, and a control center, a clamping device and a collecting device are further arranged on the frame. The clamping device comprises a clamping jaw, a horizontal rotating mechanism, a height adjusting mechanism and a length adjusting mechanism, wherein the horizontal rotating mechanism, the height adjusting mechanism and the length adjusting mechanism are used for adjusting the position of the clamping jaw, and the height adjusting mechanism and the length adjusting mechanism are uniformly installed 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 are electrically connected. The grabbing system can be used for picking, the reaction speed and the running time of the grabbing system cannot be reached by manpower, and the picking efficiency is greatly improved. In addition, horizontal rotating mechanism, height control mechanism and length control mechanism can the position of multi-angle precision adjustment gripper jaw to can avoid fruit tree branch and leaf in a flexible way, the damage that the minimizing fruit tree received because of picking.
Description
Technical Field
The invention relates to an automatic system, in particular to an automatic grabbing system based on machine vision recognition.
Background
Picking and picking mode is single in the planting industry at present, mostly is artifical picking, if can use machinery to pick and pick, will great raise the efficiency, reduce the cost, reduce to miss to adopt, increase output, assurance quality. The current agricultural machinery which appears and is applied is more comprehensive, but most of the agricultural machinery has larger size and higher cost, and damages trees greatly. The small automatic grabbing and picking machine only picks fruits without manual intervention, occupies small space, is flexible in picking, adopts clean energy such as electric power and the like, has small influence on the environment and is a new development direction.
Disclosure of Invention
The invention mainly aims to provide an automatic grabbing system based on machine vision recognition, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that: the automatic grabbing system based on machine vision recognition is characterized by comprising a frame, wherein moving devices are arranged on two sides of the frame, and a control center, a clamping device and a collecting device are further arranged on the frame. The clamping device comprises a clamping jaw, a horizontal rotating mechanism, a height adjusting mechanism and a length adjusting mechanism, wherein the horizontal rotating mechanism, the height adjusting mechanism and the length adjusting mechanism are used for adjusting the position of the clamping jaw, and the height adjusting mechanism and the length adjusting mechanism are uniformly installed 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 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; after the control center acquires the position information of the object to be grabbed, firstly, the automatic grabbing system is moved into the grabbing range of the clamping device by controlling the moving device, and then the horizontal rotating mechanism, the height adjusting mechanism and the length adjusting mechanism on the clamping device grab the object to be grabbed by adjusting the positions of the clamping claws; thirdly, the control center judges whether the object to be grabbed is successfully grabbed or not according to the state of the clamping jaws, if the object to be grabbed is judged to be failed to be grabbed, the clamping jaws return to the initial positions 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 controls the horizontal rotating mechanism, the height adjusting mechanism and the length adjusting mechanism to enable the clamping jaws to move the object block into the collecting device.
Further, horizontal rotary mechanism is including fixing the first steering wheel support on the frame, first steering wheel support internally mounted has the first steering wheel of vertical placing, the pivot of first steering wheel upwards passes first steering wheel support top surface and is connected with rotary platform.
Further, height adjusting mechanism is including fixing the second steering wheel support on rotary platform, second steering wheel support side is fixed with horizontal rotating shaft, the last rotation of horizontal rotating shaft is connected with mechanical trailing arm. And a second steering engine is further installed on the side face of the second steering engine support, a second steering engine rotating shaft vertically penetrates through the side wall of the second steering engine support and is connected with a rear arm connecting rod, the front end of the rear arm connecting rod is rotatably connected to a first angle of the triangular block, and a second angle of the triangular block is rotatably connected to the front end of the mechanical rear arm.
Further, length adjustment mechanism is including fixing the third steering wheel support on rotary platform, third steering wheel support side-mounting has the third steering wheel, third steering wheel pivot passes third steering wheel support lateral wall and is connected with the rotating link perpendicularly, the end rotation of rotating link is connected with the end of forearm connecting rod, the front end and the mechanical forearm of forearm connecting rod rotate to be connected, the middle part of machinery forearm rotates with the front end of machinery postbrachium to be connected, the forearm connecting rod with the tie point of machinery forearm with the tie point of machinery postbrachium with the tie point of machinery forearm does not coincide. The third corner of the triangular block is rotatably connected with the tail end of a driven connecting rod, and the front end of the driven connecting rod is rotatably connected with the front end of the mechanical front arm.
Furthermore, the clamping jaw comprises a clamping support fixed on any one of the height adjusting mechanism and the length adjusting mechanism, a clamping steering gear is fixed on the top surface of the clamping support, two rotating gears meshed with each other are installed on the bottom surface of the clamping support, a rotating shaft of the clamping steering gear vertically penetrates through the clamping support and then is coaxially connected with one of the rotating gears, one side of each rotating gear is rotatably connected with a jaw arm, and each jaw arm is rotatably connected with the clamping support through a clamping connecting rod.
Further, the visual recognition device is a monocular camera mounted on the clamping device.
Furthermore, the collecting device is a collecting bucket fixed on the frame.
Furthermore, the moving device comprises moving wheels arranged on two sides of the frame and a crawler belt sleeved on the moving wheels, and the moving wheels are driven by a motor arranged in the frame.
Compared with the prior art, the invention has the following beneficial effects:
the robot comprises a vehicle frame, wherein moving devices are arranged on two sides of the vehicle frame, a clamping device is further arranged on the vehicle frame, a visual recognition device is further arranged on the clamping device, the three devices are electrically connected with a control center, the control center analyzes signals transmitted back by the visual recognition device and then sends signals to the moving devices and the clamping device, so that objects to be grabbed are accurately moved into a collecting device, the series of processes are automatically carried out, only the objects in the collecting device need to be cleaned manually at regular time, and therefore human resources are effectively saved. In addition, the reaction speed and the running time of the machine are beyond the reach of manpower, and the picking efficiency is greatly improved.
In the invention, the clamping device comprises a clamping jaw, a horizontal rotating mechanism for adjusting the position of the clamping jaw, a height adjusting mechanism and a length adjusting mechanism, wherein the height adjusting mechanism and the length adjusting mechanism are uniformly installed on the horizontal rotating mechanism, and the clamping jaw is installed on any mechanism of the height adjusting mechanism or the length adjusting mechanism, so that multi-angle precise adjustment of the clamping jaw can be realized, branches and leaves of fruit trees are flexibly avoided, and the damage to the fruit trees caused by picking is minimized.
The automatic grabbing system comprises components with lower price, such as a steering engine, a monocular camera and the like, so that a large amount of purchase is facilitated for users, the cost expenditure is reduced, and the production benefit is maximized.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a right side view of the clamping device of the present invention;
FIG. 4 is a left side view of the clamping device of the present invention;
FIG. 5 is a schematic view of a gripper according to the present invention.
In the figure: 1. a moving wheel; 2. a crawler belt; 3. a collecting hopper; 4. a frame; 5. a control center; 6. a first steering engine bracket; 7. a first steering engine; 8. a monocular camera module; 9. clamping a steering engine; 10. a triangular block; 11. a driven connecting rod; 12. a mechanical forearm; 13. a rear arm link; 14. a mechanical rear arm; 15. a second steering engine; 16. a forearm link; 17. rotating the connecting rod; 18. a third steering engine; 19. clamping the bracket; 20. a rotating gear; 21. clamping the connecting rod; 22. a claw arm.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-5, an automatic grabbing system based on machine vision recognition comprises a frame 4, wherein moving devices are arranged on two sides of the frame 4, each moving device comprises a moving wheel 1 installed on two sides of the frame 4 and a track 2 sleeved on the moving wheel 1, and the moving wheels 1 are driven by a motor arranged in the frame 4.
The frame 4 is also provided with a control center 5, a clamping device and a collecting device, and the collecting device is a collecting bucket 3 fixed on the frame 4. The clamping device comprises a clamping jaw, a horizontal rotating mechanism, a height adjusting mechanism and a length adjusting mechanism, wherein the horizontal rotating mechanism, the height adjusting mechanism and the length adjusting mechanism are used for adjusting the position of the clamping jaw, and the height adjusting mechanism and the length adjusting mechanism are uniformly installed on the horizontal rotating mechanism. Horizontal rotating mechanism is including fixing first steering wheel support 6 on frame 4, and first steering wheel support 6 internally mounted has vertical first steering wheel 7 of placing, and the pivot of first steering wheel 7 upwards passes first steering wheel support 6 top surface and is connected with rotary platform. The height adjusting mechanism comprises a second steering engine support fixed on the rotary platform, a horizontal rotating shaft is fixed on the side face of the second steering engine support, and a mechanical rear arm 14 is rotatably connected to the horizontal rotating shaft. And a second steering engine 15 is further installed on the side face of the second steering engine support, a rotating shaft of the second steering engine 15 vertically penetrates through the side wall of the second steering engine support and is connected with a rear arm connecting rod 13, the front end of the rear arm connecting rod 13 is rotatably connected to a first angle of the triangular block 10, and a second angle of the triangular block 10 is rotatably connected to the front end of the mechanical rear arm 14. The length adjustment mechanism is including fixing the third steering wheel support on rotary platform, third steering wheel 18 is installed to third steering wheel support side, third steering wheel 18 pivot is perpendicular to be passed third steering wheel support lateral wall and is connected with rotatory connecting rod 17, rotatory connecting rod 17 end rotation is connected with the end of forearm connecting rod 16, the front end of forearm connecting rod 16 rotates with mechanical forearm 12 to be connected, the middle part of mechanical forearm 12 rotates with the front end of mechanical postbrachium 14 to be connected, the tie point of forearm connecting rod 16 and mechanical forearm 12 does not coincide with the tie point of mechanical postbrachium 14 and mechanical forearm 12. The third corner of the triangular block 10 is rotatably connected with the tail end of a driven connecting rod 11, and the front end of the driven connecting rod 11 is rotatably connected with the front end of a mechanical front arm 12. The gripper jaw comprises a gripper bracket 19 fixed at the front end of a mechanical forearm 12, a gripper steering gear 9 is fixed on the top surface of the gripper bracket 19, two rotary gears 20 meshed with each other are mounted on the bottom surface of the gripper bracket 19, a rotating shaft of the gripper steering gear 9 vertically penetrates through the gripper bracket 19 and then is coaxially connected with one of the rotary gears 20, one side of each rotary gear 20 is rotatably connected with a gripper arm 22, and each gripper arm 22 is rotatably connected with the gripper bracket 19 through a gripper connecting rod 21. The gripper jaws are provided with a visual recognition device which is a monocular camera 8 mounted on the top surface of the gripping bracket 19. Wherein, the motor in the mobile device, the monocular camera 8 and a series of steering engines in the clamping device are electrically connected with the control center 5.
It should be noted that the working principle of the automatic grabbing system based on machine vision recognition of the present invention includes the following steps:
firstly, identifying and positioning an object block to be grabbed through a monocular camera 8, 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, the motor arranged in the frame is controlled to drive the moving wheel 1, and the moving wheel 1 moves the automatic grabbing system into the grabbing range of the clamping device. Wherein, selectively overlap on the removal wheel 1 looking at ground environment and be equipped with track 2. And then, according to a position adjusting command of the control center (5), the first steering engine 7 drives the rotary platform to start to rotate, and the rotary platform drives the height adjusting mechanism and the length adjusting mechanism to adjust in the horizontal direction. After the horizontal direction adjustment is finished, the second steering engine 15 drives the rear wall connecting rod 13 to rotate, the rear arm connecting rod 13 drives the mechanical rear arm 14 to rotate together through the triangular block 10, and then the height of the front end of the mechanical rear arm 14 can be adjusted. After the height adjustment is finished, the third steering engine 18 drives the front arm connecting rod 16 to perform reciprocating motion through the rotating connecting rod 17, the front end of the front arm connecting rod 16 is rotatably connected with the mechanical front arm 12, the middle of the mechanical front arm 12 is rotatably connected with the front end of the mechanical rear arm 14, and when the front arm connecting rod 16 pushes and pulls the mechanical front arm 12, the mechanical front arm 12 can extend and contract by taking a connecting point of the front arm and the rear arm as a fulcrum, so that the effect of adjusting the whole length of the mechanical arm is achieved. When the level, the height and the length are adjusted, the clamping claws just move to the positions of the articles to be clamped, the clamping steering gear 9 drives the rotating gear 20 to rotate at the moment, the rotating gear 20 drives the claw arms 22 on two sides to move, and the claw arms 22 use the clamping connecting rods 21 which are rotatably connected with the clamping support 19 as supporting rods to perform clamping movement.
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 object to be grabbed is judged to be failed to be grabbed, 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 monocular camera 8, the moving wheel 1 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 hopper 3.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
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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| CN202110632295.4A CN114303643A (en) | 2021-06-07 | 2021-06-07 | Automatic grabbing system based on machine vision recognition |
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| CN202110632295.4A CN114303643A (en) | 2021-06-07 | 2021-06-07 | Automatic grabbing system based on machine vision recognition |
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| CN114931025A (en) * | 2022-06-01 | 2022-08-23 | 重庆文理学院 | Intelligent picking robot for small vegetables and fruits in greenhouse |
| CN116235703A (en) * | 2023-02-09 | 2023-06-09 | 大连理工大学 | Sweet pepper picking device and control method |
| RU2813958C1 (en) * | 2022-12-22 | 2024-02-20 | Автономная некоммерческая организация высшего образования "Университет Иннополис" | Intelligent system for robotic sorting of randomly arranged objects |
| CN118061195A (en) * | 2024-04-17 | 2024-05-24 | 哈尔滨石油学院 | Industrial robot based on visual servo |
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| CN118061195A (en) * | 2024-04-17 | 2024-05-24 | 哈尔滨石油学院 | Industrial robot based on visual servo |
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Application publication date: 20220412 |