CN116809572A - Automatic change experiment test tube cleaning system - Google Patents
Automatic change experiment test tube cleaning system Download PDFInfo
- Publication number
- CN116809572A CN116809572A CN202311100623.1A CN202311100623A CN116809572A CN 116809572 A CN116809572 A CN 116809572A CN 202311100623 A CN202311100623 A CN 202311100623A CN 116809572 A CN116809572 A CN 116809572A
- Authority
- CN
- China
- Prior art keywords
- test tube
- unit
- control unit
- convex
- rolling brush
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 140
- 238000004140 cleaning Methods 0.000 title claims abstract description 54
- 238000002474 experimental method Methods 0.000 title description 3
- 230000008859 change Effects 0.000 title description 2
- 238000005096 rolling process Methods 0.000 claims abstract description 56
- 238000011010 flushing procedure Methods 0.000 claims abstract description 34
- 238000010191 image analysis Methods 0.000 claims description 38
- 238000010276 construction Methods 0.000 claims description 21
- 238000005406 washing Methods 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 9
- 230000009471 action Effects 0.000 abstract description 5
- 230000001105 regulatory effect Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention relates to the field of automatic cleaning, in particular to an automatic test tube cleaning system, which comprises a cleaning module, a vision module and a control module, wherein the vision module is used for acquiring images of test tubes, the control module is used for judging the structural type of the test tubes based on the convex characteristics of the convex outlines of the test tubes, the action of the cleaning module is automatically controlled, the extension amount of a telescopic rod of a rolling brush unit and a flushing unit is regulated based on the dimensional characteristics of the test tubes, and the rotation direction and the rotation angle of a steering joint of the rolling brush unit are regulated when the vision module judges that the test tubes are in a second structural type, so that the convex parts of the test tubes with special shapes are rolled and brushed, and the cleaning effect and the cleaning efficiency of the test tubes with special shapes are improved.
Description
Technical Field
The invention relates to the field of automatic cleaning, in particular to an automatic test tube cleaning system for an experiment.
Background
Along with the extensive development of subjects such as medicines, chemistry, special materials and the like in universities, enterprises and scientific research institutions, laboratories of related subjects need to be more efficient and effectively meet the current scientific research, a large number of experimental test tubes need to be rapidly and thoroughly cleaned in order to improve the efficiency of the laboratories, so that the cleanliness of the experimental test tubes is guaranteed, the next experimental use is facilitated, the cleaning is guaranteed to be free from residues, other medicine reagents are conveniently contained, and the experimental effect is prevented from being influenced.
Chinese patent publication No.: CN114558860a, the disclosed test tube cleaning control system, including the master controller, the input electricity of master controller is connected with water quality monitoring module and humiture monitoring module, and the output electricity of master controller is connected with cleaning module, air-dries the module and disinfects the module, and cleaning module is including electromagnetic liquid valve, water pump and the motor all being connected with the master controller, air-dries the module and includes electric heat machine and the electromagnetic air valve all being connected with the master controller, disinfects the module and includes the ultraviolet lamp that is connected with the master controller.
However, the prior art has the following problems,
among the prior art, because there are different protruding positions in special-shaped test tube when wasing special-shaped test tube, wash incomplete easy the appearance of residue to protruding part, the cleaning performance is not good, and the operation parameter of the relevant cleaning part of characteristic adaptability's adjustment to the bellying of test tube is not considered to prior art, and then improves the cleaning performance.
Disclosure of Invention
In order to solve the above problems, the present invention provides an automated test tube washing system, comprising:
the cleaning module is used for cleaning the experimental test tube and comprises a clamping unit for clamping the experimental test tube, a flushing unit arranged on the first mechanical arm and a rolling brush unit arranged on the second mechanical arm, wherein the first mechanical arm and the second mechanical arm are arranged on one side of the clamping unit, the flushing unit comprises a telescopic rod and a spray head, and the rolling brush unit comprises a telescopic rod, a steering joint and a brush head;
the vision module is arranged on one side of the cleaning module and used for collecting a top view and a side view of the experimental test tube;
the control module is connected with the vision module and the cleaning module and comprises an image analysis unit and a control unit,
the image analysis unit is used for acquiring a top view sent by the vision module, determining protruding features of protruding outlines of the experimental test tubes based on the top view, and judging the construction types of the experimental test tubes based on the protruding features, wherein the protruding features comprise protruding depth values and protruding width values, and the construction types comprise a first construction type and a second construction type;
the control unit is used for controlling the rolling brush unit and the flushing unit to move to a preset position, adjusting the elongation of the telescopic rod of the rolling brush unit to a corresponding value based on the size characteristics of the test tube for rolling brush, and adjusting the elongation of the telescopic rod of the flushing unit to the corresponding value for flushing;
and when the image analysis unit judges that the experimental test tube is in the second construction type, determining the rotation direction of the steering joint of the rolling brush unit based on the distribution position of the convex profile, determining the angle of the steering joint to be rotated based on the convex characteristic of the convex profile, and controlling the steering joint to rotate by a corresponding angle in the corresponding rotation direction.
Further, the brush head comprises a motor and a flexible brush connected with the motor, so that the motor drives the flexible brush to rotate.
Further, the image analysis unit determines an experimental tube convex profile based on the top view, wherein,
the image analysis unit acquires a top view acquired by the vision module, constructs a rectangular coordinate system by taking the center of the outline in the top view as the origin of coordinates, determines the coordinates of all outline points of the experimental test tube in the rectangular coordinate system, calibrates the outline points with the distance from the origin of coordinates being greater than a preset distance threshold, and determines an outline section formed by the calibrated outline points as the convex outline of the experimental test tube.
Further, the image analysis unit determines a convex feature of a convex profile of the experimental tube, wherein,
the image analysis unit acquires initial contour point coordinates and tail end contour point coordinates in the convex contour of the experimental test tube, calculates the distance between the initial contour point coordinates and the tail end contour point coordinates, and determines the distance as a convex width value;
the image analysis unit obtains the distance between each contour point in the convex contour of the experimental test tube and the origin of coordinates of the rectangular coordinate system, calculates the convex depth value according to the formula (1), （1）
in the formula (1), D represents a protrusion depth value, di represents a distance between an ith contour point and a coordinate origin of the rectangular coordinate system, i is an integer greater than 1, and n represents the number of contour points in the protrusion contour of the experimental test tube.
Further, the image analysis unit determines the construction type of the test tube based on the convex features, wherein,
the image analysis unit compares the protrusion depth value with a preset protrusion depth comparison threshold value, and compares the protrusion width value with a preset protrusion width comparison threshold value;
under a first contrast condition, the image analysis unit judges that the experimental test tube is of a first construction type;
under a second contrast condition, the image analysis unit judges that the experimental test tube is of a second construction type;
the first comparison condition is that the protrusion depth value is larger than a preset protrusion depth comparison threshold value, the protrusion width value is smaller than the preset protrusion width comparison threshold value, and the second comparison condition is that the protrusion depth value is smaller than or equal to the preset protrusion depth comparison threshold value or/and the protrusion width value is smaller than or equal to the preset protrusion width comparison threshold value.
Further, the control unit adjusts the elongation of the telescopic rod of the rolling brush unit and the elongation of the telescopic rod of the flushing unit to corresponding values based on the size characteristics of the experimental test tube to clean the experimental test tube, wherein,
the control unit obtains the side view sent by the vision module and determines the maximum length of the experimental test tube
And determining the elongation of the telescopic rod of the rolling brush unit according to the formula (2) and determining the elongation of the telescopic rod of the rolling brush unit according to the formula (3)The amount of extension of the telescoping rod of the flush unit, （2）
（3）
wherein D1 represents the elongation of the telescopic rod of the rolling brush unit, D2 represents the elongation of the telescopic rod of the flushing unit,the maximum length of the test tube is shown, d1 is the length of the brush head, and d2 is the length of the nozzle.
Further, the control unit determines the rotation direction of the steering joint of the rolling brush unit based on the distribution position of the convex profile, wherein,
the control unit receives the top view acquired by the vision module, takes the center of the outline in the top view as the origin of coordinates, takes the horizontal plane as the reference plane, establishes a rectangular coordinate system, determines the coordinates of the middle outline point in the convex outline of the experimental test tube, determines the coordinate quadrant of the middle outline point in the rectangular coordinate system,
if the middle contour point is in the first quadrant, the control unit determines that the rotation direction of the steering joint of the rolling brush unit rotates 45 degrees towards the rectangular coordinate system;
if the middle contour point is in the second quadrant, the control unit determines that the rotation direction of the steering joint of the rolling brush unit rotates 135 degrees towards the rectangular coordinate system;
if the middle contour point is in the third quadrant, the control unit determines that the rotating direction of the steering joint of the rolling brush unit rotates to 225 degrees in the rectangular coordinate system;
and if the middle contour point is in the fourth quadrant, the control unit determines that the rotation direction of the steering joint of the rolling brush unit rotates to the 315-degree direction of the rectangular coordinate system.
Further, the control unit adjusts the turning angle of the steering joint based on the convex features of the convex profile, wherein,
the control unit compares the protrusion depth value with a preset first length comparison threshold value and a preset second length comparison threshold value,
under a first comparison condition, the control unit controls the steering joint to rotate by a first rotation angle in the rotation direction;
under a second comparison condition, the control unit controls the steering joint to rotate by a second rotation angle in the rotation direction;
under a third comparison condition, the control unit controls the steering joint to rotate by a third rotation angle in the rotation direction;
the first comparison condition is that the protrusion depth value is greater than or equal to the second length comparison threshold, the second comparison condition is that the protrusion depth value is greater than the first length comparison threshold and the protrusion depth value is less than the second length comparison threshold, the third comparison condition is that the protrusion depth value is less than or equal to the first length comparison threshold, the first rotation angle is greater than the second rotation angle, the second rotation angle is greater than the third rotation angle, and the second length comparison threshold is greater than the first length comparison threshold.
Further, the control unit controls the roll brush unit and the flushing unit to move to a predetermined position, wherein,
the control unit controls the first mechanical arm to act, moves the flushing unit to the upper side of the clamping unit, and enables the distance between the flushing unit and the clamping unit to be a preset distance value;
the control unit controls the second mechanical arm to act, moves the rolling brush unit to the upper side of the clamping unit, and enables the distance between the rolling brush unit and the clamping unit to be a preset distance value.
Further, the vision module comprises a first image acquisition unit and a second image acquisition unit, wherein the first image acquisition unit is arranged on the upper side of the clamping unit and used for acquiring a top view of the experimental test tube, and the second image acquisition unit is arranged on one side of the clamping unit and used for acquiring a side view of the experimental test tube.
Compared with the prior art, the invention has the advantages that the cleaning module, the vision module and the control module are arranged, the vision module is used for acquiring the image of the experimental test tube, the control module is used for judging the structural type of the experimental test tube based on the convex characteristics of the convex outline of the experimental test tube, the action of the cleaning module is automatically controlled, the action of the cleaning module is controlled, the extension amount of the telescopic rod of the rolling brush unit and the flushing unit is adjusted based on the size characteristics of the experimental test tube, and the rotation direction and the rotation angle of the steering joint of the rolling brush unit are adjusted when the vision module judges that the experimental test tube is in the second structural type, so that the rolling brush is carried out on the convex part of the experimental test tube with a special shape, and the cleaning effect and the cleaning efficiency of the experimental test tube with the special shape are improved.
In particular, the invention obtains the top view and the side view of the experimental test tube through the vision module, determines the construction type of the experimental test tube through the image analysis unit based on the convex characteristics of the convex profile, in the practical situation, for special-shaped test tubes, such as Y-shaped tubes and the like, the convex parts are difficult to clean, and residues are often present on the convex parts when the convex parts are cleaned by using automatic cleaning equipment, therefore, the invention uses the convex characteristics as the basis for dividing the types of the experimental test tubes, the first structure type characterizes the bulge degree of the bulge of the experimental test tube, the bulge degree is lower, the size is larger, the second structure type characterizes the bulge degree of the bulge of the experimental test tube, the size is smaller, and the distinction can be completed through a computer, so that the operation parameters of the cleaning module can be automatically adjusted when the bulge which is difficult to clean exists in the experimental test tube, the cleaning effect of the bulge is improved, the automatic control is realized, and the overall cleaning effect and the cleaning efficiency of the experimental test tube are further improved.
In particular, the rotating direction of the steering joint of the rolling brush unit is determined through the distribution positions of the convex outlines, so that the control unit can automatically adjust the rotating direction of the steering joint based on the convex positions of the convex parts of the experimental test tubes, the adaptability of the system is further improved, and the system can be suitable for various experimental test tubes.
In particular, the invention adjusts the steering angle of the steering joint through the convex characteristics of the convex profile, and in actual conditions, the sizes and angles of the convex parts of different experimental test tubes are different, such as various special-shaped test tubes, so that the invention automatically controls the action parameters of the cleaning module through the control module, thereby adapting to different types of experimental test tubes, improving the adaptability of the system, and improving the cleaning effect and the cleaning efficiency when cleaning the special-shaped experimental test tubes.
Drawings
FIG. 1 is a schematic diagram of an automated test tube washing system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a control module according to an embodiment of the invention;
FIG. 3 is a schematic illustration of the convex profile of an experimental tube according to an embodiment of the invention.
In the figure, 1: experimental tube convex profile, 2: test tube port profile.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1-3, fig. 1 is a schematic structural diagram of an automated test tube cleaning system according to an embodiment of the present invention, fig. 2 is a schematic structural diagram of a control module according to an embodiment of the present invention, and fig. 3 is a schematic outline of a protrusion of an experimental test tube according to an embodiment of the present invention, where the automated test tube cleaning system of the present invention includes:
the cleaning module is used for cleaning the experimental test tube and comprises a clamping unit for clamping the experimental test tube, a flushing unit arranged on the first mechanical arm and a rolling brush unit arranged on the second mechanical arm, wherein the first mechanical arm and the second mechanical arm are arranged on one side of the clamping unit, the flushing unit comprises a telescopic rod and a spray head, and the rolling brush unit comprises a telescopic rod, a steering joint and a brush head;
the vision module is arranged on one side of the cleaning module and used for collecting a top view and a side view of the experimental test tube;
the control module is connected with the vision module and the cleaning module and comprises an image analysis unit and a control unit,
the image analysis unit is used for acquiring a top view sent by the vision module, determining protruding features of the protruding outline 1 of the experimental test tube based on the top view, and judging the structural type of the experimental test tube based on the protruding features, wherein the protruding features comprise protruding depth values and protruding width values, and the structural type comprises a first structural type and a second structural type;
the control unit is used for controlling the rolling brush unit and the flushing unit to move to a preset position, adjusting the elongation of the telescopic rod of the rolling brush unit to a corresponding value based on the size characteristics of the test tube for rolling brush, and adjusting the elongation of the telescopic rod of the flushing unit to the corresponding value for flushing;
and when the image analysis unit judges that the experimental test tube is in the second construction type, determining the rotation direction of the steering joint of the rolling brush unit based on the distribution position of the convex profile, determining the angle of the steering joint to be rotated based on the convex characteristic of the convex profile, and controlling the steering joint to rotate by a corresponding angle in the corresponding rotation direction.
Specifically, the specific structure of each image acquisition unit of the vision module is not limited, the image acquisition units can be formed by a video camera or an industrial CCD camera, and only the image acquisition function can be realized.
Specifically, the present invention is not limited to the specific structure of the control module, and the control module and each unit therein may be constituted by a logic component including a field programmable part, a computer, a microprocessor in a computer, or the like.
Specifically, the invention does not limit the specific structure of the clamping unit, and the clamping unit only needs to meet the function of clamping the test tube, which is the prior art and is not repeated.
Specifically, the specific structures of the first mechanical arm and the second mechanical arm are not limited, the rolling brush unit and the flushing unit can be driven to move, and the degree of freedom and the joint structure of the rolling brush unit can be designed according to the field requirements by those skilled in the art, so that the rolling brush unit and the flushing unit can only meet the functions.
Specifically, the invention of the steering Guan Jieben of the rolling brush unit is not particularly limited, the steering joint is widely applied in the field of automation, the function of driving the brush head to rotate in different directions is only needed, and the invention is not repeated in the prior art.
Specifically, the method for identifying the outline features of the test tube by the image processing unit and the control unit is not particularly limited, and in this embodiment, the outline identification algorithm can be trained in advance and then be led into the image processing unit or the control unit, which is the prior art and will not be described again.
Specifically, the brush head comprises a motor and a flexible brush connected with the motor, so that the motor drives the flexible brush to rotate.
Specifically, referring to fig. 3, fig. 3 is a Y-shaped tube as an example, where the experimental tube protrusion profile 1 is located at two sides of the tube opening profile 2, and the image analysis unit determines the experimental tube protrusion profile 1 based on the top view, wherein,
the image analysis unit acquires a top view acquired by the vision module, constructs a rectangular coordinate system by taking the center of the outline in the top view as the origin of coordinates, determines the coordinates of all outline points of the experimental test tube in the rectangular coordinate system, calibrates the outline points with the distance from the origin of coordinates being greater than a preset distance threshold, and determines an outline section formed by the calibrated outline points as an experimental test tube bulge outline 1.
In this embodiment, the preset distance threshold is determined based on the nozzle width of the test tube, and dm=setDM represents a preset distance threshold, +.>The width of the orifice of the test tube is shown.
Specifically, the image analysis unit determines the protruding feature of the protruding outline 1 of the experimental test tube, wherein the image analysis unit obtains the initial outline point coordinate and the terminal outline point coordinate in the protruding outline 1 of the experimental test tube, calculates the distance between the initial outline point coordinate and the terminal outline point coordinate, and determines the distance as a protruding width value;
the image analysis unit obtains the distance between each contour point in the convex contour 1 of the experimental test tube and the origin of coordinates of the rectangular coordinate system, calculates the convex depth value according to the formula (1), （1）
in the formula (1), D represents a protrusion depth value, di represents a distance between an ith contour point and a coordinate origin of the rectangular coordinate system, i is an integer greater than 1, and n represents the number of contour points in the experimental test tube protrusion contour 1.
Specifically, the image analysis unit determines the type of construction of the test tube based on the protruding features, wherein,
the image analysis unit compares the protrusion depth value with a preset protrusion depth comparison threshold value, and compares the protrusion width value with a preset protrusion width comparison threshold value;
under a first contrast condition, the image analysis unit judges that the experimental test tube is of a first construction type;
under a second contrast condition, the image analysis unit judges that the experimental test tube is of a second construction type;
the first comparison condition is that the protrusion depth value is larger than a preset protrusion depth comparison threshold value, the protrusion width value is smaller than the preset protrusion width comparison threshold value, and the second comparison condition is that the protrusion depth value is smaller than or equal to the preset protrusion depth comparison threshold value or/and the protrusion width value is smaller than or equal to the preset protrusion width comparison threshold value.
In the present embodiment, the bump depth contrast threshold CM and the bump width contrast threshold KM are set based on the nozzle width setting of the test tube, and cm=setSetting km= =>。
According to the invention, the top view and the side view of the experimental test tube are obtained through the vision module, the structural type of the experimental test tube is determined through the image analysis unit based on the convex characteristics of the convex profile, in the practical situation, for special-shaped test tubes such as Y-shaped tubes and the like, the convex parts are difficult to clean, and residues are always left on the convex parts when the convex parts are cleaned by utilizing automatic cleaning equipment, so that the invention uses the convex characteristics as the basis for dividing the types of the experimental test tubes, the first structural type characterizes the convex parts of the experimental test tube, the convex degree is lower, the size is larger, the second structural type characterizes the convex parts of the experimental test tube, the convex degree is larger, the size is smaller, and the distinction can be completed through a computer, so that the operation parameters of the cleaning module can be automatically adjusted when the convex parts which are difficult to clean exist in the experimental test tube, the cleaning effect of the convex parts is improved, the automatic control is realized, and the whole cleaning effect and the cleaning efficiency of the experimental test tube are improved.
Specifically, the control unit adjusts the elongation of the telescopic rod of the rolling brush unit and the elongation of the telescopic rod of the flushing unit to corresponding values based on the size characteristics of the experimental test tube to clean the experimental test tube, wherein,
the control unit obtains the side view sent by the vision module and determines the maximum length of the experimental test tube
And determining the elongation of the telescopic rod of the rolling brush unit according to the formula (2) and the elongation of the telescopic rod of the flushing unit according to the formula (3), （2）
（3）
wherein D1 represents the elongation of the telescopic rod of the rolling brush unit, D2 represents the elongation of the telescopic rod of the flushing unit,the maximum length of the test tube is shown, d1 is the length of the brush head, and d2 is the length of the nozzle.
In particular, the control unit determines the direction of rotation of the steering knuckle of the roller brush unit on the basis of the position of the profile of the projections, wherein,
the control unit receives the top view acquired by the vision module, takes the center of the outline in the top view as the origin of coordinates, takes the horizontal plane as the reference plane, establishes a rectangular coordinate system, determines the coordinates of the middle outline point in the convex outline 1 of the experimental test tube, determines the coordinate quadrant of the middle outline point in the rectangular coordinate system,
if the middle contour point is in the first quadrant, the control unit determines that the rotation direction of the steering joint of the rolling brush unit rotates 45 degrees towards the rectangular coordinate system;
if the middle contour point is in the second quadrant, the control unit determines that the rotation direction of the steering joint of the rolling brush unit rotates 135 degrees towards the rectangular coordinate system;
if the middle contour point is in the third quadrant, the control unit determines that the rotating direction of the steering joint of the rolling brush unit rotates to 225 degrees in the rectangular coordinate system;
and if the middle contour point is in the fourth quadrant, the control unit determines that the rotation direction of the steering joint of the rolling brush unit rotates to the 315-degree direction of the rectangular coordinate system.
In particular, the control unit adjusts the angle of rotation of the steering joint based on the convex features of the convex profile, wherein,
the control unit compares the protrusion depth value with a preset first length comparison threshold value and a preset second length comparison threshold value,
under a first comparison condition, the control unit controls the steering joint to rotate by a first rotation angle in the rotation direction;
under a second comparison condition, the control unit controls the steering joint to rotate by a second rotation angle in the rotation direction;
under a third comparison condition, the control unit controls the steering joint to rotate by a third rotation angle in the rotation direction;
the first comparison condition is that the protrusion depth value is larger than or equal to the second length comparison threshold, the second comparison condition is that the protrusion depth value is larger than the first length comparison threshold and the protrusion depth value is smaller than the second length comparison threshold, the third comparison condition is that the protrusion depth value is smaller than or equal to the first length comparison threshold, a first rotation angle alpha 1 is larger than a second rotation angle alpha 2, the second rotation angle alpha 2 is larger than a third rotation angle alpha 3, the second length comparison threshold is larger than the first length comparison threshold, 45 degrees are larger than alpha 1 > alpha 2 > alpha 3 > 0, the second length comparison threshold LH1 and the second length comparison threshold LH2 are set based on the protrusion width comparison threshold, LH1=1.3 CM, and LH2=1.6 CM.
Specifically, the control unit controls the roll brush unit and the flushing unit to move to a predetermined position, wherein,
the control unit controls the first mechanical arm to act, moves the flushing unit to the upper side of the clamping unit, and enables the distance between the flushing unit and the clamping unit to be a preset distance value;
the control unit controls the second mechanical arm to act, moves the rolling brush unit to the upper side of the clamping unit, and enables the distance between the rolling brush unit and the clamping unit to be a preset distance value.
Specifically, the vision module includes first image acquisition unit and second image acquisition unit, first image acquisition unit sets up the centre gripping unit upside for obtain the top view of experimental test tube, second image acquisition unit sets up centre gripping unit one side is used for obtaining the side view of experimental test tube.
According to the invention, the steering angle of the steering joint is adjusted through the convex characteristics of the convex profile, and in actual conditions, the sizes and angles of the convex parts of different experimental test tubes are different, such as various special-shaped test tubes, so that the invention automatically controls the action parameters of the cleaning module through the control module, thereby adapting to different types of experimental test tubes, improving the adaptability of the system, and improving the cleaning effect and the cleaning efficiency when cleaning the experimental test tubes with special shapes.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
Claims (10)
1. An automated test tube washing system, comprising:
the cleaning module is used for cleaning the experimental test tube and comprises a clamping unit for clamping the experimental test tube, a flushing unit arranged on the first mechanical arm and a rolling brush unit arranged on the second mechanical arm, wherein the first mechanical arm and the second mechanical arm are arranged on one side of the clamping unit, the flushing unit comprises a telescopic rod and a spray head, and the rolling brush unit comprises a telescopic rod, a steering joint and a brush head;
the vision module is arranged on one side of the cleaning module and used for collecting a top view and a side view of the experimental test tube;
the control module is connected with the vision module and the cleaning module and comprises an image analysis unit and a control unit,
the image analysis unit is used for acquiring a top view sent by the vision module, determining protruding features of protruding outlines of the experimental test tubes based on the top view, and judging the construction types of the experimental test tubes based on the protruding features, wherein the protruding features comprise protruding depth values and protruding width values, and the construction types comprise a first construction type and a second construction type;
the control unit is used for controlling the rolling brush unit and the flushing unit to move to a preset position, adjusting the elongation of the telescopic rod of the rolling brush unit to a corresponding value based on the size characteristics of the test tube for rolling brush, and adjusting the elongation of the telescopic rod of the flushing unit to the corresponding value for flushing;
and when the image analysis unit judges that the experimental test tube is in the second construction type, determining the rotation direction of the steering joint of the rolling brush unit based on the distribution position of the convex profile, determining the angle of the steering joint to be rotated based on the convex characteristic of the convex profile, and controlling the steering joint to rotate by a corresponding angle in the corresponding rotation direction.
2. The automated test tube washing system of claim 1, wherein the brush head includes a motor and a flexible brush coupled to the motor such that the motor drives the flexible brush in rotation.
3. The automated test tube washing system of claim 1, wherein the image analysis unit determines a test tube bulge profile based on the top view, wherein,
the image analysis unit acquires a top view acquired by the vision module, constructs a rectangular coordinate system by taking the center of the outline in the top view as the origin of coordinates, determines the coordinates of all outline points of the experimental test tube in the rectangular coordinate system, calibrates the outline points with the distance from the origin of coordinates being greater than a preset distance threshold, and determines an outline section formed by the calibrated outline points as the convex outline of the experimental test tube.
4. The automated test tube washing system of claim 3, wherein the image analysis unit determines a raised feature of a raised profile of the test tube, wherein,
the image analysis unit acquires initial contour point coordinates and tail end contour point coordinates in the convex contour of the experimental test tube, calculates the distance between the initial contour point coordinates and the tail end contour point coordinates, and determines the distance as a convex width value;
the image analysis unit obtains the distance between each contour point in the convex contour of the experimental test tube and the origin of coordinates of the rectangular coordinate system, calculates the convex depth value according to the formula (1), （1）
in the formula (1), D represents a protrusion depth value, di represents a distance between an ith contour point and a coordinate origin of the rectangular coordinate system, i is an integer greater than 1, and n represents the number of contour points in the protrusion contour of the experimental test tube.
5. The automated test tube washing system of claim 1, wherein the image analysis unit determines a type of construction of the test tube based on the raised features, wherein,
the image analysis unit compares the protrusion depth value with a preset protrusion depth comparison threshold value, and compares the protrusion width value with a preset protrusion width comparison threshold value;
under a first contrast condition, the image analysis unit judges that the experimental test tube is of a first construction type;
under a second contrast condition, the image analysis unit judges that the experimental test tube is of a second construction type;
the first comparison condition is that the protrusion depth value is larger than a preset protrusion depth comparison threshold value, the protrusion width value is smaller than the preset protrusion width comparison threshold value, and the second comparison condition is that the protrusion depth value is smaller than or equal to the preset protrusion depth comparison threshold value or/and the protrusion width value is smaller than or equal to the preset protrusion width comparison threshold value.
6. The automated test tube washing system of claim 1, wherein the control unit adjusts the amount of extension of the telescoping rod of the roller brush unit and the amount of extension of the telescoping rod of the rinse unit to corresponding values based on test tube size characteristics to wash the test tube, wherein,
the control unit obtains the side view sent by the vision module and determines the maximum length of the experimental test tube
And determining the elongation of the telescopic rod of the rolling brush unit according to the formula (2) and the elongation of the telescopic rod of the flushing unit according to the formula (3), （2）
（3）
wherein D1 represents the elongation of the telescopic rod of the rolling brush unit, D2 represents the elongation of the telescopic rod of the flushing unit,the maximum length of the test tube is shown, d1 is the length of the brush head, and d2 is the length of the nozzle.
7. The automated test tube washing system of claim 1, wherein the control unit determines a rotational direction of the roll brush unit steering joint based on the location of the profile of the protrusions, wherein,
the control unit receives the top view acquired by the vision module, takes the center of the outline in the top view as the origin of coordinates, takes the horizontal plane as the reference plane, establishes a rectangular coordinate system, determines the coordinates of the middle outline point in the convex outline of the experimental test tube, determines the coordinate quadrant of the middle outline point in the rectangular coordinate system,
if the middle contour point is in the first quadrant, the control unit determines that the rotation direction of the steering joint of the rolling brush unit rotates 45 degrees towards the rectangular coordinate system;
if the middle contour point is in the second quadrant, the control unit determines that the rotation direction of the steering joint of the rolling brush unit rotates 135 degrees towards the rectangular coordinate system;
if the middle contour point is in the third quadrant, the control unit determines that the rotating direction of the steering joint of the rolling brush unit rotates to 225 degrees in the rectangular coordinate system;
and if the middle contour point is in the fourth quadrant, the control unit determines that the rotation direction of the steering joint of the rolling brush unit rotates to the 315-degree direction of the rectangular coordinate system.
8. The automated test tube washing system of claim 7, wherein the control unit adjusts the angle of rotation of the steering joint based on the convex features of the convex profile, wherein,
the control unit compares the protrusion depth value with a preset first length comparison threshold value and a preset second length comparison threshold value,
under a first comparison condition, the control unit controls the steering joint to rotate by a first rotation angle in the rotation direction;
under a second comparison condition, the control unit controls the steering joint to rotate by a second rotation angle in the rotation direction;
under a third comparison condition, the control unit controls the steering joint to rotate by a third rotation angle in the rotation direction;
the first comparison condition is that the protrusion depth value is greater than or equal to the second length comparison threshold, the second comparison condition is that the protrusion depth value is greater than the first length comparison threshold and the protrusion depth value is less than the second length comparison threshold, the third comparison condition is that the protrusion depth value is less than or equal to the first length comparison threshold, the first rotation angle is greater than the second rotation angle, the second rotation angle is greater than the third rotation angle, and the second length comparison threshold is greater than the first length comparison threshold.
9. The automated test tube washing system of claim 1, wherein the control unit controls the movement of the roller brush unit and the rinse unit to a predetermined position, wherein,
the control unit controls the first mechanical arm to act, moves the flushing unit to the upper side of the clamping unit, and enables the distance between the flushing unit and the clamping unit to be a preset distance value;
the control unit controls the second mechanical arm to act, moves the rolling brush unit to the upper side of the clamping unit, and enables the distance between the rolling brush unit and the clamping unit to be a preset distance value.
10. The automated test tube washing system of claim 1, wherein the vision module comprises a first image acquisition unit and a second image acquisition unit, the first image acquisition unit being disposed on the upper side of the clamping unit for obtaining a top view of the test tube, the second image acquisition unit being disposed on one side of the clamping unit for obtaining a side view of the test tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311100623.1A CN116809572B (en) | 2023-08-30 | 2023-08-30 | Automatic change experiment test tube cleaning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311100623.1A CN116809572B (en) | 2023-08-30 | 2023-08-30 | Automatic change experiment test tube cleaning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116809572A true CN116809572A (en) | 2023-09-29 |
| CN116809572B CN116809572B (en) | 2023-12-12 |
Family
ID=88139648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311100623.1A Active CN116809572B (en) | 2023-08-30 | 2023-08-30 | Automatic change experiment test tube cleaning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116809572B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD217723A1 (en) * | 1983-05-17 | 1985-01-23 | Konsum Rationalisierungszentru | WASHING DEVICE FOR DIFFERENTLY MOLDED CONTAINERS, ESPECIALLY 200 L UNIT WAGONS |
| CN204685590U (en) * | 2015-04-09 | 2015-10-07 | 徐州德坤电气科技有限公司 | Based on the intelligent automated cleaning subelement of number bus |
| CN208195183U (en) * | 2018-03-30 | 2018-12-07 | 陈志旭 | A kind of breakage-proof automatic flushing device of new type ultrasonic test tube |
| CN112172191A (en) * | 2020-09-23 | 2021-01-05 | 江西省智能产业技术创新研究院 | Robot glue scraping method based on visual identification |
| CN215391435U (en) * | 2021-07-16 | 2022-01-04 | 周锡邦 | Automatic cleaning machine for garbage can |
| CN216262563U (en) * | 2021-12-01 | 2022-04-12 | 临沂浩民包装材料有限公司 | Cleaning device for plastic barrel |
| CN116116631A (en) * | 2023-02-10 | 2023-05-16 | 陕西延长石油巴拉素煤业有限公司 | Pipeline cleaning and paint spraying robot |
-
2023
- 2023-08-30 CN CN202311100623.1A patent/CN116809572B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD217723A1 (en) * | 1983-05-17 | 1985-01-23 | Konsum Rationalisierungszentru | WASHING DEVICE FOR DIFFERENTLY MOLDED CONTAINERS, ESPECIALLY 200 L UNIT WAGONS |
| CN204685590U (en) * | 2015-04-09 | 2015-10-07 | 徐州德坤电气科技有限公司 | Based on the intelligent automated cleaning subelement of number bus |
| CN208195183U (en) * | 2018-03-30 | 2018-12-07 | 陈志旭 | A kind of breakage-proof automatic flushing device of new type ultrasonic test tube |
| CN112172191A (en) * | 2020-09-23 | 2021-01-05 | 江西省智能产业技术创新研究院 | Robot glue scraping method based on visual identification |
| CN215391435U (en) * | 2021-07-16 | 2022-01-04 | 周锡邦 | Automatic cleaning machine for garbage can |
| CN216262563U (en) * | 2021-12-01 | 2022-04-12 | 临沂浩民包装材料有限公司 | Cleaning device for plastic barrel |
| CN116116631A (en) * | 2023-02-10 | 2023-05-16 | 陕西延长石油巴拉素煤业有限公司 | Pipeline cleaning and paint spraying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116809572B (en) | 2023-12-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116809572B (en) | Automatic change experiment test tube cleaning system | |
| CN216393954U (en) | Self-moving cleaning equipment | |
| CN108514371A (en) | A kind of glass-cleaning robot | |
| CN110179412A (en) | It can inside and outside metope clean robot | |
| CN106971933A (en) | Etching chamber and its cleaning assembly with automatic cleaning function, cleaning method | |
| CN208162185U (en) | A kind of PCB circuit board deashing device | |
| CN111993422A (en) | Robot axis and hole alignment control method based on uncalibrated vision | |
| CN208613182U (en) | A kind of camera shooting auxiliary body of unmanned plane automatically cleaning adjustment | |
| CN211853228U (en) | Device for multi-target tracking of images | |
| CN109162043A (en) | A kind of cleaning equipment of weaved cotton cloth material | |
| CN209931160U (en) | Rotary disc type milking machine capable of accurately positioning cow nipples | |
| CN110772651A (en) | Method and device for directional ultraviolet sterilization in shoes based on machine vision | |
| JP6279133B1 (en) | Air conditioner cleaning apparatus and air conditioner cleaning method | |
| CN114833117A (en) | Wafer cleaning machine | |
| CN112401732B (en) | Multi-degree-of-freedom omnibearing glass wiping machine and using method thereof | |
| CN212220583U (en) | Unmanned aerial vehicle capable of shooting at all angles | |
| CN211177267U (en) | Automatic cleaning type air humidifier | |
| CN207641304U (en) | Using the membrane module cleaning device of universal adjustment | |
| CN210876565U (en) | Air shower | |
| CN114877201B (en) | Artificial intelligence's real-time monitoring device | |
| CN217671069U (en) | Tectorial membrane device is used in processing of tectorial membrane board shocks resistance | |
| CN210004057U (en) | Special-shaped screen fixing device | |
| CN209712740U (en) | A kind of multifunctional window convenient for scouring | |
| CN220717029U (en) | Motor stator's cleaning device | |
| CN219052280U (en) | Stainless steel handle cleaning machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |