CN208744837U - Intelligent robotic arm system based on 3D machine vision - Google Patents
Intelligent robotic arm system based on 3D machine vision Download PDFInfo
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Abstract
本实用新型公开了一种基于三维机器视觉的智能机械臂系统，包括传输机构、检测机构、机械臂和上位机；检测机构包括用于检测物件是否通过的激光测距模块、用于检测物件的高度信息的信息获取组件和用于采集物件的二维信息的摄像头；激光测距模块与信息获取组件相连接，信息获取组件、摄像头和机械臂分别与上位机相连接；上位机根据由信息获取组件检测到的物件的高度信息和由摄像头采集到的物件的二维信息，调整机械臂的抓取位置而对不同规格的物件进行抓取处理。本实用新型的智能机械臂系统，能够根据不同规格的物件自动调整抓取的位置，从而实现对不同规格的物件的智能抓取处理。
The utility model discloses an intelligent robotic arm system based on three-dimensional machine vision, comprising a transmission mechanism, a detection mechanism, a robotic arm and a host computer; the detection mechanism comprises a laser ranging module for detecting whether an object passes through, a The information acquisition component of the height information and the camera used to collect the two-dimensional information of the object; the laser ranging module is connected with the information acquisition component, and the information acquisition component, the camera and the mechanical arm are respectively connected with the upper computer; the upper computer obtains the information according to the The height information of the object detected by the component and the two-dimensional information of the object collected by the camera are used to adjust the grasping position of the robotic arm to grasp objects of different specifications. The intelligent mechanical arm system of the utility model can automatically adjust the grasping position according to objects of different specifications, thereby realizing the intelligent grasping processing of objects of different specifications.
Description
Technical field
The utility model relates to mechanical arm technical field, especially a kind of intelligent machine arm system based on three-dimensional machine vision
System.
Background technique
Initial, the mechanical arm applied in industry is teaching humanoid robot mostly, usually needs to preset before use
Sports-like route makes mechanical arm go the known object of crawl one position, direction, specification, such robot motion's mode letter
It is single and single, although can replace the mankind do some simple repetitive operations, operating flexibility is low, on by
Larger limitation, because of its visual perception function not as the mankind.General industrial robot is not no stereoscopic vision,
Workpiece storage position, posture, specification of workpieces slight change robot are with regard to helpless.However existing pass through contactless acquisition
Tool of object appearance such as camera, video camera etc. can only reappear object with two dimensional form, inevitably will cause obtained object
The loss of body third dimension topographical information, in order to more accurately obtain object stereo data, quantitatively to the pattern of object into
Row description, it is necessary to which the three-dimensional appearance of object is accurately measured.With the deep and industrial production water of modern scientific research
Flat continuous improvement, people are increasingly strong for the demand for assigning mechanical arm 3D vision ability.
Utility model content
For overcome the deficiencies in the prior art, the purpose of this utility model is to provide a kind of based on three-dimensional machine vision
Intelligent machine arm system, the position that can be grabbed according to the object adjust automatically of different size, to realize to different size
The intelligent grabbing of object is handled.
The technical solution adopted by the utility model to solve the problem is as follows:
Intelligent machine arm system based on three-dimensional machine vision, including for conveying object transmission mechanism, for acquiring
The testing agency of the three-dimensional information of object, the mechanical arm for grabbing object and the host computer for overall management；Testing agency
Including for detecting the laser ranging module whether object pass through, the elevation information for detecting object information acquisition component and
For acquiring the camera of the two-dimensional signal of object；Laser ranging module is connected with information acquisition component, information acquisition component,
Camera and mechanical arm are connected with host computer respectively；Host computer is believed according to the height of the object detected by information acquisition component
Breath and two-dimensional signal by the collected object of camera, adjust the crawl position of mechanical arm and carry out to the object of different size
Crawl processing.
Further, information acquisition component includes projector for carrying out fringe projection to object and for being projected
The camera that the object of striped is shot, projector and camera are connected with host computer respectively.
Further, transmission mechanism includes conveyer belt, and conveyer belt is provided with the first information along its direction of motion and obtains area, the
Two acquisition of information areas and catching block；Laser ranging module, projector and camera are directed at the first information and obtain area's setting；Camera
The second acquisition of information area and catching block setting are respectively aligned to mechanical arm.
Further, conveyer belt is additionally provided with the encoder for detecting transmission speed, and encoder is connected with mechanical arm.
Further, mechanical arm includes mechanical arm controller, the steering engine for being driven and for clamping to object
Gripper, steering engine and gripper are connected with mechanical arm controller respectively.
Further, the pressure sensor for detecting grasping force, pressure sensor and machinery are provided among gripper
Arm controller is connected.
Further, host computer is provided with bluetooth sending module, mechanical arm controller be provided with for bluetooth sending module
Cooperate the bluetooth receiving module of communication.
The beneficial effects of the utility model are: the intelligent machine arm system based on three-dimensional machine vision, object is in conveyer
Successively be transported in region locating for testing agency under the conveying effect of structure and mechanical arm locating in region, when object is passed
It is defeated into region locating for testing agency when, laser ranging module can detect object, so as to accurate judgement object
Whether part has entered in region locating for testing agency, so as to accurately carry out subsequent processing to object；When object quilt
It detects and enters in region locating for testing agency, information acquisition component and camera can acquire the height letter of object respectively
Breath and two-dimensional signal, wherein the two-dimensional signal of object includes that length information, width information and object centre distance mechanical arm are sat
The range information of origin is marked, therefore, under information acquisition component and the collective effect of camera, the three-dimensional information of object can be by
It is accurate to obtain, so, host computer can distinguish the object of different specification size according to the three-dimensional information, adjust so as to pass through
The crawl position of whole mechanical arm and to the object of different size carry out intelligent grabbing processing.
Detailed description of the invention
The utility model is described in further detail with example with reference to the accompanying drawing.
Fig. 1 is the schematic diagram of the intelligent machine arm system of the utility model.
Specific embodiment
Referring to Fig.1, the intelligent machine arm system based on three-dimensional machine vision, including for conveying object transmission mechanism 1,
For acquiring the testing agency 2 of the three-dimensional information of object, the mechanical arm 3 for grabbing object and for the host computer of overall management
4；Testing agency 2 includes laser ranging module 21, the elevation information for detecting object for detecting whether object passes through
The camera 22 of information acquisition component and the two-dimensional signal for acquiring object；Laser ranging module 21 and information acquisition component phase
Connection, information acquisition component, camera 22 and mechanical arm 3 are connected with host computer 4 respectively；Host computer 4 is according to by acquisition of information
The elevation information for the object that component detection arrives and two-dimensional signal by the collected object of camera 22, adjustment mechanical arm 3 are grabbed
Fetch bit sets and carries out crawl processing to the object of different size.Specifically, object transmission mechanism 1 conveying effect under successively by
Be transported in region locating for testing agency 2 and mechanical arm 3 locating in region, when object is transferred to locating for testing agency 2
Region in when, whether laser ranging module 21 can detect object, enter so as to accurate judgement object
In region locating for testing agency 2, so as to accurately carry out subsequent processing to object；Inspection is entered when object is detected
It surveys locating for mechanism 2 in region, information acquisition component and camera 22 can acquire the elevation information and two dimension letter of object respectively
Breath, wherein the two-dimensional signal of object include length information, width information and object centre distance mechanical arm coordinate origin away from
From information, therefore, under information acquisition component and the collective effect of camera 22, the three-dimensional information of object can be obtained accurately
It takes, so, host computer 4 can distinguish the object of different specification size according to the three-dimensional information, so as to by adjusting machine
The crawl position of tool arm 3 and to the object of different size carry out intelligent grabbing processing.
Wherein, referring to Fig.1, information acquisition component include for object carry out fringe projection projector 23 and for pair
It is projected the camera 24 that streaky object is shot, projector 23 and camera 24 are connected with host computer 4 respectively.Specifically
Ground, the host computer 4 in the present embodiment are device with data-handling capacity, such as computer, data server etc..
When the picture for being projected streaky object that 24, camera take is sent to host computer 4, host computer 4 is using based on wavelength
The a plurality of line projected phase expansion technique of selection obtains the elevation information of object.A plurality of line projected phase exhibition based on wavelength selection
The technology of opening is the state of the art, such as author is Ding Yi, and publication date is in October, 2012, and entitled " multi-frequency is thrown
The technical research of shadow stripe measurement phase unwrapping " the Central China University of Science and Technology Ph.D. Dissertation, be based on wherein just describing in detail
The technology contents of a plurality of line projected phase expansion technique of wavelength selection.
Wherein, referring to Fig.1, transmission mechanism 1 includes conveyer belt 11, and conveyer belt 11 is provided with the first letter along its direction of motion
Breath obtains area, the second acquisition of information area and catching block；Laser ranging module 21, projector 23 and camera 24 are directed at the first information
Obtain area's setting；Camera 22 and mechanical arm 3 are respectively aligned to the second acquisition of information area and catching block setting.Specifically, Laser Measuring
Away from module 21 mainly by VL53L0X module composition, in the present embodiment, the distance range of 2mm to 200mm is chosen at as laser
The detection range of range finder module 21, when object is by laser ranging module 21 and is among above-mentioned detection range, Laser Measuring
A pulse signal can be triggered away from module 21 and is sent respectively to projector 23 and camera 24, to start projector 23 and camera
24 are projected and are taken pictures to object respectively, thus for host computer 4 obtains the elevation information of object and carries out the preparation of early period.
Wherein, referring to Fig.1, conveyer belt 11 is additionally provided with the encoder 15 for detecting transmission speed, encoder 15 and machine
Tool arm 3 is connected.Specifically, since object is on conveyer belt 11 and as conveyer belt 11 is moved, and the first letter
Breath is separated with a certain distance between obtaining between area, the second acquisition of information area and catching block, and therefore, if desired mechanical arm 3 is accurately grabbed
Object is taken, then needs that object is combined to obtain the time that area is transferred to catching block from the first information, enables mechanical arm 3 accurate
Time point object is grabbed.In order to accurately obtain object from the first information obtain area be transferred to catching block when
Between, in the present embodiment, the encoder 15 for detecting transmission speed is provided on conveyer belt 11, since the first information obtains
The distance between area and catching block are fixed, therefore obtain the distance between area and catching block and conveyer belt 11 according to the first information
Transmission speed can accurately obtain object from the first information and obtain the time that area is transferred to catching block.
Wherein, referring to Fig.1, mechanical arm 3 includes mechanical arm controller 31, the steering engine 32 for being driven and is used for object
The gripper 33 that part is clamped, steering engine 32 and gripper 33 are connected with mechanical arm controller 31 respectively；Among gripper 33
It is provided with the pressure sensor 34 for detecting grasping force, pressure sensor 34 is connected with mechanical arm controller 31.Specifically
Ground, mechanical arm controller 31 includes single-chip microcontroller, and the single-chip microcontroller respectively with laser ranging module 21, encoder 15, steering engine
32, gripper 33 and pressure sensor 34 are connected, wherein joint of the steering engine 32 as mechanical arm 3, pressure sensor 34 are main
It is made of the resistance-type diaphragm pressure sensor of model RFP602.When single-chip microcontroller receives the pass transmitted by host computer 4
After the range information of the elevation information of object, length information, width information and object centre distance mechanical arm coordinate origin,
MCU driving mechanical arm 3 adjusts the angle that steering engine 32 needs to rotate according to range information, and controls gripper 33 and reach crawl
The top in area obtains the time that area is transferred to catching block from the first information in combination with object, after object reaches target position,
Mechanical arm 3 grabs object, and the promptly degree of gripper 33 is controlled by pressure sensor 34, object from transmission
It is picked up on band 11 and puts down object in designated position, last mechanical arm 3 resets to initial position and waits the processing of crawl next time.
In addition, referring to Fig.1, host computer 4 is provided with bluetooth sending module 41, mechanical arm controller 31 be provided with for indigo plant
The side that the bluetooth receiving module 35 of the cooperation communication of tooth sending module 41, host computer 4 and mechanical arm controller 31 pass through Bluetooth transmission
Formula carries out data interaction.
Be above to the utility model it is preferable implementation illustrated, but the utility model be not limited to it is above-mentioned
Embodiment, those skilled in the art can also make various be equal without departing from the spirit of the present invention
Deformation or replacement, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (7)
1. the intelligent machine arm system based on three-dimensional machine vision, it is characterised in that: including the transmission mechanism for conveying object
(1), for acquiring the testing agency (2) of the three-dimensional information of object, the mechanical arm (3) for grabbing object and for managing as a whole
Host computer (4)；The testing agency (2) includes for detecting laser ranging module (21) that whether object pass through, for examining
Survey the information acquisition component of the elevation information of object and the camera (22) of the two-dimensional signal for acquiring object；The Laser Measuring
It is connected away from module (21) with the information acquisition component, the information acquisition component, camera (22) and mechanical arm (3) are respectively
It is connected with the host computer (4)；The host computer (4) according to the elevation information of the object detected by information acquisition component and
By the two-dimensional signal of camera (22) collected object, the crawl position of the mechanical arm (3) is adjusted and to different size
Object carries out crawl processing.
2. the intelligent machine arm system according to claim 1 based on three-dimensional machine vision, it is characterised in that: the information
Securing component includes projector (23) for carrying out fringe projection to object and for carrying out to being projected streaky object
The camera (24) of shooting, the projector (23) and camera (24) are connected with the host computer (4) respectively.
3. the intelligent machine arm system according to claim 2 based on three-dimensional machine vision, it is characterised in that: the transmission
Mechanism (1) includes conveyer belt (11), and the conveyer belt (11) is provided with the first information along its direction of motion and obtains area, the second letter
Breath obtains area and catching block；The laser ranging module (21), projector (23) and camera (24) are directed at the first information
Obtain area's setting；The camera (22) and mechanical arm (3) are respectively aligned to second acquisition of information area and catching block setting.
4. the intelligent machine arm system according to claim 3 based on three-dimensional machine vision, it is characterised in that: the transmission
Band (11) is additionally provided with the encoder (15) for detecting transmission speed, and the encoder (15) is connected with the mechanical arm (3)
It connects.
5. the intelligent machine arm system according to claim 1 to 4 based on three-dimensional machine vision, it is characterised in that:
The mechanical arm (3) is including mechanical arm controller (31), the steering engine (32) for being driven and for clamping to object
Gripper (33), the steering engine (32) and gripper (33) are connected with the mechanical arm controller (31) respectively.
6. the intelligent machine arm system according to claim 5 based on three-dimensional machine vision, it is characterised in that: the machinery
The pressure sensor (34) for detecting grasping force, the pressure sensor (34) and the machinery are provided among pawl (33)
Arm controller (31) is connected.
7. the intelligent machine arm system according to claim 5 based on three-dimensional machine vision, it is characterised in that: described upper
Machine (4) is provided with bluetooth sending module (41), it is described machinery arm controller (31) be provided with for the bluetooth sending module
(41) bluetooth receiving module (35) of cooperation communication.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789414A (en) * | 2018-07-17 | 2018-11-13 | 五邑大学 | Intelligent machine arm system based on three-dimensional machine vision and its control method |
| CN112659133A (en) * | 2020-12-31 | 2021-04-16 | 软控股份有限公司 | Glue grabbing method, device and equipment based on machine vision |
| CN113146636A (en) * | 2021-04-27 | 2021-07-23 | 深圳市一诺维奇教育科技有限公司 | Object grabbing method and device and flexible robot |
-
2018
- 2018-07-17 CN CN201821136935.2U patent/CN208744837U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789414A (en) * | 2018-07-17 | 2018-11-13 | 五邑大学 | Intelligent machine arm system based on three-dimensional machine vision and its control method |
| CN112659133A (en) * | 2020-12-31 | 2021-04-16 | 软控股份有限公司 | Glue grabbing method, device and equipment based on machine vision |
| CN113146636A (en) * | 2021-04-27 | 2021-07-23 | 深圳市一诺维奇教育科技有限公司 | Object grabbing method and device and flexible robot |
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