CN207058610U - A kind of full-automatic material transfer robot with image identification function - Google Patents
A kind of full-automatic material transfer robot with image identification function Download PDFInfo
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- CN207058610U CN207058610U CN201720730276.4U CN201720730276U CN207058610U CN 207058610 U CN207058610 U CN 207058610U CN 201720730276 U CN201720730276 U CN 201720730276U CN 207058610 U CN207058610 U CN 207058610U
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- 230000000007 visual effect Effects 0.000 claims description 5
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- 238000004891 communication Methods 0.000 description 3
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Abstract
It the utility model is related to a kind of material transfer robot of fully automatic operation.Purpose is to provide a kind of full-automatic material transfer robot with image identification function based on K60 and OpenCV, the robot should have autonomous classification function and can autonomous operation, and lower-cost feature.Technical scheme is：A kind of full-automatic material transfer robot with image identification function based on K60 and OpenCV, including chassis and several driving wheels under chassis；It is characterized in that：Tracking module that several are used for tracking walking is also equipped with chassis, coordinates to control the single-chip microcomputer of each component working, the PC handled picture signal and the battery to the power supply of each part, above chassis it is vertically-mounted have the stepper motor driven slide rail screw mandrel of two uses, one the rotation storage platform for making elevating movement and the industry camera above rotation storage platform are driven by slide rail screw mandrel.
Description
Technical field
A kind of material transfer robot of fully automatic operation is the utility model is related to, especially has and image is carried out to material
The material transfer robot of the fully automatic operation of identification function.
Background technology
Material transfer robot is a kind of autonomous visually-perceptible of collection, autonomous to implement allocation action, is autonomous mobile to specific bit
Put and independently carry the robot of specified material.More simply, material transfer robot can realize that full-automatic carry refers to
The function of earnest material.It covers the knowledge of many-sided subject, including sensor technology, image procossing, theory of mechanisms, Electronic Control
Outstanding achievements in terms of the artificial intelligence of engineering, computer programming and correlation.It embodies a concentrated reflection of current electromechanical
The leading edge developments of change technology are horizontal.However, existing material transfer robot only reside within experiment the displaying stage, and cost compared with
Height, practical application can not be carried out.
Utility model content
The purpose of this utility model is to overcome deficiency existing for above-mentioned background technology, there is provided one kind is based on K60 and OpenCV
The full-automatic material transfer robot with image identification function, the robot should have and autonomous classification function and can independently transport
OK, and lower-cost feature.
Technical scheme provided by the utility model is：
A kind of full-automatic material transfer robot with image identification function based on K60 and OpenCV, including chassis
And several driving wheels under chassis；It is characterized in that：Several are also equipped with chassis and is used for tracking walking
Tracking module, coordinate to control the single-chip microcomputer of each component working, the PC for handling picture signal and each part is powered
Battery, above chassis it is vertically-mounted have the stepper motor driven slide rail screw mandrel of two uses, one driven by slide rail screw mandrel
Make the rotation storage platform of elevating movement and the industry camera above rotation storage platform；The driving wheel is received for Mike
Nurse wheel；The single-chip microcomputer is communicated by blue-tooth device and PC.
The rotation storage platform includes the hoistable platform of connecting sliding rail leading screw and can rotated around vertical axis to stir thing
Several baffle plates of material and the steering wheel coordinated one by one with several baffle plates.
Several baffle plates include two allocation baffle plates and two dial-out baffle plates, by the MG995 steering wheels correspondingly arranged band one by one
It is dynamic.
The rotation storage platform can be rotationally positioned on hoistable platform by DS04-NFC steering wheels around vertical axis.
The tracking module includes the 3 tracking modules used on chassis, wherein four infrared biographies in 1 tracking module
Sensor is positioned over the front and back end on chassis two-by-two respectively, and four infrared sensors in another 1 tracking module are positioned over two-by-two respectively
The left and right end on chassis, all around the path tracking on direction, four of last tracking module are red by control machine people respectively
Outer sensor surrounds square shape and is placed on center section, makes robot accurate alignment material storage area.
The industry camera is connected by data wire with PC, and image information is transferred into Visual in PC
Handled on Studio platforms, realize the identification function of image.
The characteristics of the utility model is：
1st, single-chip microcomputer (preferably MK60DN512ZVLL10) be used to control coordinate tracking module, rotation storage platform, driving wheel with
And the operation of industry camera；Image procossing realized on PC, and agreement is formulated using bluetooth module, realize single-chip microcomputer and PC it
Between communication.
2nd, using four Mecanum wheels as moving mechanism section, driven respectively by 4 reducing motors, can without
Robot realizes the movement of different directions in the case of turning in itself, it is possible to reduce because the time that robot steering ribbon itself comes disappears
Consumption, so as to improve machine task efficiency.
3rd, allocation function is realized to material using four allocation baffle plates coordinated with steering wheel；Two of which is dragged on, and two are dialled
Go out, so that it is guaranteed that dragging on, transfering to and can realize exactly.
4th, using 3 tracking modules, make the walking tracking of robot more stable accurate, while closing robot
Allocation material is put in right position, carries material accurate, improves efficiency.
5th, the carrying of more materials can be realized by rotating allocation in batches by rotating storage platform；And two kinds of things can be carried simultaneously
Product.
The beneficial effects of the utility model are：By using PC, using Visual Studio platforms, using increasing income
OpenCV function libraries handle image, add the type of goods of identification, improve the precision of identification.Single-chip microcomputer is with 1 piece of K60
Processor is as core component and carries out Integrated Development design, disclosure satisfy that the autonomous of robot, autonomous gripping finger earnest
The functions such as body.Autonomy-oriented degree is high, and advantage of lower cost is manufactured in research and development, simple in construction, is advantageously implemented the autonomy-oriented of robot
And miniaturization.
Brief description of the drawings
Fig. 1 is the utility model dimensional structure diagram.
Fig. 2 is the distributing position schematic diagram of 3 tracking modules on the utility model chassis.
Fig. 3 is communication relations schematic diagram of the present utility model.
Fig. 4 is control main-process stream schematic diagram of the present utility model.
Fig. 5 is the utility model Partial controll schematic flow sheet.
Have in figure：1st, industry camera；2nd, stepper motor；3rd, storage platform is rotated；4th, slide rail leading screw；5th, allocation baffle plate；6、
Mecanum wheel；7th, PC；8th, reducing motor；9th, infrared sensor；10th, DS04-NFC steering wheels；11st, hoistable platform；12、
MG995 steering wheels；13rd, baffle plate is transferred to；14th, storing platform baffle plate.
Embodiment
As described below is a kind of more universal implementation of the present utility model, that is to say, that the utility model patent is simultaneously
It is not limited to a kind of this implementation.Therefore, as long as reaching the technology of the utility model patent using same or similar means
Or during using effect, it should all include within the protection domain of the utility model patent.
Material transfer robot with image identification function shown in the drawings based on K60 and OpenCV, including chassis,
One rotation storage platform, connection storage platform and leading screw 11, two installation stepper motors of hoistable platform slide rail screw mandrel, four dial
Take baffle plate, a single-chip microcomputer, a PC, four reducing motors, four Mecanum wheels, three tracking modules, an industry
Camera and two blocks of 12V power supplys.Enable different hardware to reach coordinated, independently complete required movement.
4 reducing motors on chassis described in the utility model are connected with 2 pieces of L298N motor drive modules, and motor drives
Dynamic model block is connected with single piece plate.4 reducing motors install a Mecanum wheel respectively so that are not turned in itself in robot
In the case of realize the movements of different directions.
Tracking module (i.e. infrared tracking module) is installed on the chassis, for the track route of control machine people, with
And correct the track route of robot, determine the position of robot.
Further, the utility model has used 3 tracking modules (as shown in Figure 2) under chassis, wherein 1 tracking module
In four infrared sensors be positioned over the forward and backward of chassis two-by-two respectively, four infrared sensors in another 1 tracking module point
It is not positioned over the left and right of chassis two-by-two, distinguishes the control machine people path tracking on direction all around, last tracking mould
Four infrared sensors of block surround square shape and are placed on center section, make robot accurate alignment material storage area.
Tracking module is sent to the different signals of K60 (i.e. K60 control panels), motor drive module under the different motion conditions of robot
According to the motion of signal control motor.3 tracking modules have feedback effect, when robot deviates the route specified, tracking
Module will automatic sensing to and send different with above-mentioned signal to K60, subtract according to control mode driving as hereinbefore
Speed motor, robot is set to be returned to the moving line specified, to complete follow-up action.
The utility model uses 4 MG995 steering wheels and 1 DS04-NFC steering wheel.DS04-NFC steering wheels are 360 degree of steering wheels,
On hoistable platform between 2 slide rail screw mandrels, coordinate with storage platform, realize the rotation of storage platform.2 MG995 steering wheels
With 2 allocation baffle fits on storage platform, 2 allocations gear on the hoistable platform between 2 MG995 steering wheels and slide rail screw mandrel
Plate coordinates, and realizes dragging on and transfer to material.Same 12V power supplys are divided into two-way decompression power supply, improve circuit
Stability.
The utility model is connected using 2 stepper motors with 2 powerful stepper motor servomechanisms, servomechanism again with list
Piece machine connects, and stepper motor drives the movement of slide rail screw mandrel, moves up and down the platform among 2 slide rail screw mandrels, so that
Rotation storage platform, allocation baffle plate, the material baffle being fixedly connected with platform move up and down.
The utility model is connected using the industry camera of a 1500W pixel with PC, the image transmitting taken pictures to
On Visual Studio platforms in PC, the program write using Opencv built-in functions is handled, and realizes the identification of image
Function.
Further, the utility model is by Visual Studio platforms and OpenCV storehouses, the connected PC of camera with
Signal communication is used again between single-chip microcomputer, when robot is moved to material recognition position, K60 plates are by blue-tooth device to PC
One signal, PC control camera are taken pictures, and robot waits PC processing image, the figure that PC gets camera afterwards
The image to be prestored in picture and PC compares, and a threshold value is set, when similarity is more than threshold value, then it is assumed that the thing that camera is taken pictures
Material be need material, PC again by blue-tooth device send allocation instruction to single-chip microcomputer, single-chip microcomputer receive instruction after again
Allocation action signal is sent to the steering wheel with allocation baffle fit, material allocation into storage platform.Behind the complete region of allocation
Subsequent region is automatically moved to after material and performs same commands, so circulation, until the subtask terminates.If in the tasks carrying phase
Between rotate that storage platform is full, then triggering interruption makes robot go to place material.If the complete all areas of allocation, now no matter rotation is stored up
Whether thing platform is full, can all perform corresponding placement material program.
Claims (6)
1. a kind of full-automatic material transfer robot with image identification function based on K60 and OpenCV, including chassis with
And several driving wheels under chassis；It is characterized in that：Several are also equipped with chassis and is used for following for tracking walking
Mark module, coordinate to control the single-chip microcomputer of each component working, the PC (7) for handling picture signal and each part is powered
Battery, it is vertically-mounted above chassis to there are two to be driven using the slide rail screw mandrels (4) of stepper motors (2) driving, by slide rail screw mandrel
The rotation storage platform (3) for making elevating movement and the industry camera (1) above rotation storage platform；The driving wheel
For Mecanum wheel (6)；The single-chip microcomputer is communicated by blue-tooth device and PC.
2. the full-automatic material carrying implement with image identification function according to claim 1 based on K60 and OpenCV
Device people, it is characterised in that：The rotation storage platform includes the hoistable platform of connecting sliding rail leading screw and can rotated around vertical axis
With the steering wheel stirred several baffle plates of material and coordinated one by one with several baffle plates.
3. the full-automatic material carrying implement with image identification function according to claim 2 based on K60 and OpenCV
Device people, it is characterised in that：Several baffle plates include two allocation baffle plates (5) and two are transferred to baffle plate (13), by what is correspondingly arranged
MG995 steering wheels (12) drive one by one.
4. the full-automatic material carrying implement with image identification function according to claim 3 based on K60 and OpenCV
Device people, it is characterised in that：The rotation storage platform can rotationally be positioned at liter by DS04-NFC steering wheels (12) around vertical axis
Drop on platform.
5. the full-automatic material carrying implement with image identification function according to claim 4 based on K60 and OpenCV
Device people, it is characterised in that：The tracking module includes the 3 tracking modules used on chassis, wherein four in 1 tracking module
Individual infrared sensor (9) is positioned over the front and back end on chassis two-by-two respectively, four infrared sensors difference in another 1 tracking module
The left and right end on chassis is positioned over two-by-two, distinguishes the control machine people path tracking on direction all around, last tracking mould
Four infrared sensors of block surround square shape and are placed on center section, make robot accurate alignment material storage area.
6. the full-automatic material carrying implement with image identification function according to claim 5 based on K60 and OpenCV
Device people, it is characterised in that：The industry camera is connected by data wire with PC, and image information is transferred in PC
Handled on Visual Studio platforms, realize the identification function of image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720730276.4U CN207058610U (en) | 2017-06-22 | 2017-06-22 | A kind of full-automatic material transfer robot with image identification function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720730276.4U CN207058610U (en) | 2017-06-22 | 2017-06-22 | A kind of full-automatic material transfer robot with image identification function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207058610U true CN207058610U (en) | 2018-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720730276.4U Expired - Fee Related CN207058610U (en) | 2017-06-22 | 2017-06-22 | A kind of full-automatic material transfer robot with image identification function |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109634278A (en) * | 2018-12-17 | 2019-04-16 | 贵州大学 | A kind of material floor truck of cross grid tracking and the identification of more colors |
-
2017
- 2017-06-22 CN CN201720730276.4U patent/CN207058610U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109634278A (en) * | 2018-12-17 | 2019-04-16 | 贵州大学 | A kind of material floor truck of cross grid tracking and the identification of more colors |
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Granted publication date: 20180302 Termination date: 20180622 |