CN209109636U - A kind of bird's nest feather based on machine vision picks device - Google Patents
A kind of bird's nest feather based on machine vision picks device Download PDFInfo
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- CN209109636U CN209109636U CN201821131776.7U CN201821131776U CN209109636U CN 209109636 U CN209109636 U CN 209109636U CN 201821131776 U CN201821131776 U CN 201821131776U CN 209109636 U CN209109636 U CN 209109636U
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- feather
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- nest
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- sliding block
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Abstract
The utility model discloses a kind of, and the bird's nest feather based on machine vision picks device, and the control unit and leveling clamping frame of extraction unit and air nozzle work are clamped including the clamping extraction unit for picking feather, the air nozzle for dispelling feather, for identification feather feature and driving；The leveling clamping frame includes the pedestal set gradually from top to down, support rod and the pressing plate for pushing down micro- immersion bird's nest；The clamping extraction unit includes lifting cylinder, gas-tpe fitting, push plate, connecting plate, folding cylinder, the first sliding block and the second sliding block and clip；The air nozzle includes gas nozzle and gas nozzle bracket；Described control unit include for acquire the video camera of bird's nest image, camera lens, vision light source and for handle image information and drive clamp extraction unit and air nozzle controller.It is provided by the utility model to pick device also and have the advantages that structure and be simple and convenient to operate, be easy to implement.
Description
Technical field
The utility model relates to technical field of machine vision more particularly to a kind of bird's nest feather based on machine vision to pick
Device and its pick method.
Background technique
The current existing technology for picking the feather in natural bird's nest mainly passes through manually with tweezers from natural bird's nest
The dry feather chosen, clamp out entrained with, due to picking the complexity of technique, one people of a natural bird's nest needs by picking completely
Spend nearly 3 to 5 hours.It is then to carry out people again by the way that bird's nest is impregnated in free state that another, which chooses cant formula,
Work chooses hair, not only has lost a large amount of bird's nest in this way, also destroys the nutritional ingredient of natural bird's nest.
Existing four axis series and parallel robot due to its own structure particularity, the main movement realized to object and
Based on migration mode, it is difficult to realize the grasping manipulation to object.It would therefore be highly desirable to need using a kind of simple light robot end
End executive device completes crawl to object, picks work.
Machine vision technique controls the positioning and crawl of the automation equipments such as robot by the identification to feature object,
The feature object processed can will be needed to sort out from article.The advantages of due to its automated integration degree height, fast and easy,
In nowadays automatic production line field, especially robot automation's technical field using more and more extensive, production is not only shortened
The product production cycle also improves the quality and efficiency of production.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of structure letter based on machine vision
Bird's nest feather picks device.
The purpose of this utility model is achieved through the following technical solutions:
A kind of bird's nest feather based on machine vision picks device, and it includes for picking feather that Gai Yumao, which picks device mainly,
Clamping extraction unit, the air nozzle for dispelling feather, for identification feather feature and driving clamp extraction unit and air nozzle work
The control unit and leveling clamping frame of work.The leveling clamping frame is fixedly connected with mechanical arm.The clamping extraction unit and spray
Gas nozzle is installed on leveling clamping frame.Described control unit is mounted on distance and picks above station in 600 millimeters of height, point
It is not drivingly connected with clamping extraction unit and air nozzle.
Specifically, the leveling clamping frame mainly includes the pedestal set gradually from top to down, support rod and for pressing
Firmly micro- pressing plate for impregnating bird's nest.The pedestal is fixedly connected with mechanical arm.The upper end of the support rod and the fixed company of base bottom
It connects, lower end is fixed with pressing plate.The notch for clamping feather is equipped in the middle part of the pressing plate, the notch, which is located at, is clamping extraction unit just
Lower section.
Specifically, the clamping extraction unit includes lifting cylinder, gas-tpe fitting, push plate, connecting plate, folding cylinder, sliding block
(specifically including the first sliding block and the second sliding block) and clip.The lifting cylinder is mounted on base bottom, output end downward
It is fixedly connected with push plate.The top of the connecting plate is fixed with push plate, and bottom is fixedly connected with folding cylinder.The sliding block is pairs of
Setting realizes that folding cylinder drives sliding block opposite or counter motion on folding cylinder.The clip is separately positioned on sliding block,
Realize that sliding block drives clip clamping or release feather.The gas-tpe fitting is separately positioned on lifting cylinder and folding cylinder, with
External high-pressure air pipe connection.
Specifically, the air nozzle includes gas nozzle and gas nozzle bracket.One end of the gas nozzle bracket is clamped on support rod,
The other end clamps gas nozzle.The gas outlet of the gas nozzle is connect towards clip, air inlet with external high pressure tracheae.
Specifically, described control unit includes for acquiring the video camera of bird's nest image, camera lens, vision light source, Yi Jiyong
In processing image information and drive clamp extraction unit and air nozzle controller.The controller respectively with video camera, visual light
Source electrical connection, the controller are drivingly connected with lifting cylinder, folding cylinder and gas nozzle respectively.The vision light source irradiates vertically
On bird's nest, the video camera passes through alignment lens bird's nest to be picked.
As a preferred embodiment of the present invention, in order to improve the size and clamping efficiency of picking device grasp opening, this
Notch described in utility model is designed using rectangle, and length is 16 millimeters, and width is 2 millimeters, and depth is through pressing plate.
Further, for the ease of the connection of starter and installation, pedestal top described in the utility model is equipped with two
Convenient for connecting the fluting of external high pressure tracheae.One end of the fluting is arranged in base central, and the other end extends to susceptor edges.
As a preferred embodiment of the present invention, the gap between two clips is adjusted for convenience, it is described in the utility model
Connecting interface between clip and sliding block is set as the U type groove mouth of gap size when convenient for adjusting clamped condition.
As a preferred embodiment of the present invention, in order to improve the probability that clip successfully clamps feather, the utility model one
8 interlaced teeth are equipped with to the clip lower end.
As a preferred embodiment of the present invention, the video camera uses industrial CCD color RGB video camera；The vision
Light source uses LED light source.
The invention also discloses a kind of, and the bird's nest feather based on machine vision picks method, this is picked method and mainly wraps
Include following steps:
Step S1: Image Acquisition is radiated at direct current LED light is vertical parallel on the natural bird's nest soaked, uses industry
CCD color camera is shot by the rate of 30 frame per second and acquires bird's nest image.
Step S2: the bird's nest image of acquisition is carried out binarization of gray value and morphology pre-processes, reduced by the identification of feather feature
The interference of fine hole and flaw in image, then identifies feather feature by Threshold Segmentation Algorithm.
Step S3: the feather feature of identification is carried out contours extract based on Boundary extracting algorithm, and counted by feather feature location
Contour images center-of-mass coordinate is calculated, obtains its pose under robot basis coordinates by coordinate transform.
Step S4: device crawl is picked, is controlled according to pose of the feather profile mass center of acquisition under robot basis coordinates
Robot end processed picks device lifting cylinder and folding cylinder movement, and then clip is driven to realize the crawl to feather.
Step S5: feather dispels recycling, and the feather picked up is located in above pond by control robot, using on air nozzle
Tracheae blow out high pressure gas, the feather in clip is blown off into pond, is separated and recovered again.
As a preferred embodiment of the present invention, the morphology pretreatment in the step S2 uses corrosion and expansion is calculated
Method reduces the misrecognition of non-feather feature and the influence of fine feather leakage identification.
As a preferred embodiment of the present invention, the Threshold Segmentation Algorithm in the step S2 is using multilevel threshold point
It cuts, identify different size of feather feature can also adequately.
Compared with prior art, the utility model also has the advantage that
(1) the bird's nest feather provided by the utility model based on machine vision picks device with compact-sized, lightweight
The advantages of convenient and fast response time, can be applied in robot automation's production field with improve the efficiency of production with
Quality.
(2) the bird's nest feather provided by the utility model based on machine vision picks the lifting cylinder and folding gas of device
Cylinder is staggered installation of by connecting plate in 90 degree, and folding cylinder remains symmetrical when fixing two slide block movements on the slide rail,
The clip lower end has interlaced tooth, can effectively pick out feather.
(3) the bird's nest feather provided by the utility model based on machine vision is picked device and can precisely, quickly be known
Other feather feature drives robot and the robot end to pick device and quickly grab to feather, pick work.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the bird's nest feather provided by the utility model based on machine vision picks device.
Fig. 2 is the clamped condition signal that the bird's nest feather provided by the utility model based on machine vision picks device
Figure.
Fig. 3 is the original state section view that the bird's nest feather provided by the utility model based on machine vision picks device
Figure.
Fig. 4 is that the bird's nest feather provided by the utility model based on machine vision is picked the feather state that dispels of device and cutd open
View.
Fig. 5 is the work flow diagram that the bird's nest feather provided by the utility model based on machine vision picks method.
Label declaration in above-mentioned attached drawing:
1- flattens clamping frame, 2- lifting cylinder, 3- gas-tpe fitting, 4- push plate, 5- connecting plate, 6- folding cylinder, 7- first
Sliding block, the second sliding block of 8-, 9- gas nozzle bracket, 10- gas nozzle, 11- notch, 12- first clamp, 13- second clamp, 14- pressing plate,
15- support rod, 16- pedestal.
Specific embodiment
To keep the purpose of this utility model, technical solution and advantage clearer, clear, develop simultaneously implementation referring to the drawings
The utility model is described in further detail for example.
Embodiment 1:
As shown in Figures 1 to 5, present embodiment discloses a kind of, and the bird's nest feather based on machine vision picks device, Gai Yu
It includes for picking the clamping extraction unit of feather, the air nozzle for dispelling feather, for identification feather that hair, which picks device mainly,
Feature and driving clamp the control unit and leveling clamping frame 1 of extraction unit and air nozzle work.The leveling clamping frame 1 with
Mechanical arm is fixedly connected.The clamping extraction unit and air nozzle are installed on leveling clamping frame 1.Described control unit is mounted on
Distance is picked above station in 600 millimeters of height, is drivingly connected respectively with clamping extraction unit and air nozzle.
Specifically, it is described leveling clamping frame 1 mainly include set gradually from top to down pedestal 16, support rod 15 and
For pushing down micro- pressing plate 14 for impregnating bird's nest.The pedestal 16 is fixedly connected with mechanical arm.The upper end of the support rod 15 and base
16 bottoms of seat are fixedly connected, and lower end and pressing plate 14 are fixed.The notch 11 for clamping feather is equipped in the middle part of the pressing plate 14, it is described
Notch 11, which is located at, to be clamped immediately below extraction unit.
Specifically, the clamping extraction unit includes lifting cylinder 2, gas-tpe fitting 3, push plate 4, connecting plate 5, folding cylinder
6, the first sliding block 7 and the second sliding block 8 and first clamp 12 and second clamp 13.The lifting cylinder 2 is mounted on pedestal downward
16 bottoms, output end are fixedly connected with push plate 4.The top of the connecting plate 5 and push plate 4 are fixed, and bottom and folding cylinder 6 are solid
Fixed connection.First sliding block 7 and the second sliding block 8 are arranged in pairs on folding cylinder 6, realize that the driving first of folding cylinder 6 is sliding
Block 7 and the second sliding block 8 is opposite or counter motion.The first clamp 12 and second clamp 13 are separately positioned on 7 He of the first sliding block
On second sliding block 8, realize that the first sliding block 7 and the second sliding block 8 drive first clamp 12 and the clamping of second clamp 13 or release plumage
Hair.The gas-tpe fitting 3 is separately positioned on lifting cylinder 2 and folding cylinder 6, is connect with external high-pressure air pipe.
Specifically, the air nozzle includes gas nozzle 10 and gas nozzle bracket 9.One end of the gas nozzle bracket 9 is clamped in support
On bar 15, the other end clamps gas nozzle 10.The gas outlet of the gas nozzle 10 is towards first clamp 12 and second clamp 13, air inlet
It is connect with external high pressure tracheae.
Specifically, described control unit includes for acquiring the video camera of bird's nest image, camera lens, vision light source, Yi Jiyong
In processing image information and drive clamp extraction unit and air nozzle controller.The controller respectively with video camera, visual light
Source electrical connection, the controller are drivingly connected with lifting cylinder 2, folding cylinder 6 and gas nozzle 10 respectively.The vision light source is vertical
It is radiated on bird's nest, the video camera passes through alignment lens bird's nest to be picked.
As a preferred embodiment of the present invention, in order to improve the size and clamping efficiency of picking device grasp opening, this
Notch 11 described in utility model is designed using rectangle, and length is 16 millimeters, and width is 2 millimeters, and depth is through pressing plate 14.
Further, for the ease of the connection of starter and installation, two are equipped at the top of pedestal 16 described in the utility model
Item is convenient for the fluting of connection external high pressure tracheae.One end of the fluting is arranged at 16 center of pedestal, and the other end extends to pedestal
16 edges.
As a preferred embodiment of the present invention, the gap between two clips is adjusted for convenience, it is described in the utility model
Connecting interface between first clamp 12 and second clamp 13 and the first sliding block 7 and the second sliding block 8 is set as adjusting and clamping shape
The U type slot 11 of gap size when state.
As a preferred embodiment of the present invention, feather is successfully clamped in order to improve first clamp 12 and second clamp 13
Probability, a pair of first clamp 12 of the utility model and 13 lower end of second clamp are equipped with 8 interlaced teeth.
As a preferred embodiment of the present invention, the video camera uses industrial CCD color RGB video camera；The vision
Light source uses LED light source.
The present embodiment also discloses a kind of bird's nest feather based on machine vision and picks method, this is picked method and mainly includes
Following steps:
Step S1: Image Acquisition is radiated at direct current LED light is vertical parallel on the natural bird's nest soaked, uses industry
CCD color camera is shot by the rate of 30 frame per second and acquires bird's nest image.
Step S2: the bird's nest image of acquisition is carried out binarization of gray value and morphology pre-processes, reduced by the identification of feather feature
The interference of fine hole and flaw in image, then identifies feather feature by Threshold Segmentation Algorithm.
Step S3: the feather feature of identification is carried out contours extract based on Boundary extracting algorithm, and counted by feather feature location
Contour images center-of-mass coordinate is calculated, obtains its pose under robot basis coordinates by coordinate transform.
Step S4: device crawl is picked, is controlled according to pose of the feather profile mass center of acquisition under robot basis coordinates
Robot end processed picks device lifting cylinder 2 and folding cylinder 6 acts, and then drives first clamp 12 and second clamp 13 real
Now to the crawl of feather.
Step S5: feather dispels recycling, and the feather picked up is located in above pond by control robot, using on air nozzle
Tracheae blow out high pressure gas, the feather in first clamp 12 and second clamp 13 is blown off into pond, is separated again
Recycling.
As a preferred embodiment of the present invention, the morphology pretreatment in the step S2 uses corrosion and expansion is calculated
Method reduces the misrecognition of non-feather feature and the influence of fine feather leakage identification.
As a preferred embodiment of the present invention, the Threshold Segmentation Algorithm in the step S2 is using multilevel threshold point
It cuts, identify different size of feather feature can also adequately.
Embodiment 2:
Step as shown in Figure 5 carries out image to the natural bird's nest being placed on immediately below vision light source by industrial CCD camera
Acquisition, acquisition, and feather feature is identified using machine vision algorithm, driving robot determines feather feature
Then position picks device completion by a kind of bird's nest feather based on machine vision provided by the utility model and picks work to feather
Make, clamp feather and moves to designated position and carry out dispelling recycling.
As shown in Figure 1, a kind of bird's nest feather based on machine vision picks device, comprising: leveling clamping frame 1, it is described whole
Flat clamping frame includes pedestal 16, support rod 15 and pressing plate 14 again；Extraction element is clamped, the clamping extraction element includes lifting again
Cylinder 2, connecting plate 5, folding cylinder 6, first clamp 12 and second clamp 13；Air nozzle, the air nozzle include gas nozzle 10 again
With gas nozzle bracket 9.
The pedestal 16 is fixedly connected with robot end, and pressing plate 14 and pedestal 16 pass through intermediate support rod 15 also Cheng Gu
Fixed connection, can make pressing plate 14 as robot end compresses bird's nest down together, can make the bird's nest Cheng Ping after micro- immersion in this way
Whole state, convenient for choosing hair.
It is equipped with the notch of 16*2mm among the pressing plate 14, clamping feather is gone by it for clip, and guarantee to be attached to
Bird's nest on feather is not pressed from both sides out.
The lifting cylinder 2 further includes two gas-tpe fittings 3 and push plate 4, by control two gas-tpe fittings air inlet and
Gaseity controls the raising and lowering of push plate 4 out.
As shown in Figures 2 and 3, lifting cylinder 2 is cross-linked by connecting plate 5 in 90 degree with folding cylinder 6, push plate 4 and
Connecting plate 5 is fixedly connected, and can make to open and close cylinder 6 in this way as raising and lowering movement is done in push plate 4.
Folding cylinder 6 further includes fixed the first sliding block 7 on the slide rail and the second sliding block 8 and two gas-tpe fittings 3, is led to
The inlet, outlet state for crossing two gas-tpe fittings 3 of control makes the first sliding block 7 and the second sliding block 8 open and close at symmetrical on the slide rail
It closes.
First clamp 12 and second clamp 13 are separately fixed on the first sliding block 7 and the second sliding block 8, with the first sliding block 7
It is opened together with the second sliding block 8 and closure.
As shown in figure 4, gas nozzle 10 is fixed on gas nozzle bracket 9, gas nozzle bracket 9 is fixed on the support rod 15 of leveling clamping frame
On, and 360 degree rotation can be carried out around support rod, it can arbitrarily adjust the direction for dispelling feather.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (6)
1. a kind of bird's nest feather based on machine vision picks device, which is characterized in that mentioned including the clamping for picking feather
Portion, the air nozzle for dispelling feather, for identification feather feature and driving is taken to clamp the control of extraction unit and air nozzle work
Unit and leveling clamping frame；The leveling clamping frame is fixedly connected with mechanical arm；The clamping extraction unit and air nozzle are pacified
On leveling clamping frame；Described control unit is mounted on distance and picks above station in 600 millimeters of height, respectively with clamping
Extraction unit and air nozzle are drivingly connected；
The leveling clamping frame includes the pedestal set gradually from top to down, support rod and for pushing down micro- immersion bird's nest
Pressing plate；The pedestal is fixedly connected with mechanical arm；The upper end of the support rod is fixedly connected with base bottom, and lower end and pressing plate are solid
It is fixed；The notch for clamping feather is equipped in the middle part of the pressing plate, the notch, which is located at, to be clamped immediately below extraction unit；
The clamping extraction unit includes lifting cylinder, gas-tpe fitting, push plate, connecting plate, folding cylinder, sliding block and clip；Institute
It states lifting cylinder and is mounted on base bottom downward, output end is fixedly connected with push plate；The top of the connecting plate and push plate are solid
Fixed, bottom is fixedly connected with folding cylinder；The sliding block is arranged in pairs on folding cylinder, realizes that folding cylinder drives sliding block phase
To or counter motion；The clip is separately positioned on sliding block, realizes that sliding block drives clip clamping or release feather；The tracheae
Connector is separately positioned on lifting cylinder and folding cylinder, is connect with external high-pressure air pipe；
The air nozzle includes gas nozzle and gas nozzle bracket；One end of the gas nozzle bracket is clamped on support rod, and the other end is by gas
Mouth clamps；The gas outlet of the gas nozzle is connect towards clip, air inlet with external high pressure tracheae；
Described control unit include for acquire the video camera of bird's nest image, camera lens, vision light source and for handle image letter
It ceases and drives the controller for clamping extraction unit and air nozzle；The controller is electrically connected with video camera, vision light source respectively, respectively
It is drivingly connected with lifting cylinder, folding cylinder and gas nozzle；The vision light source is radiated on bird's nest vertically, and the video camera passes through
Alignment lens bird's nest to be picked.
2. the bird's nest feather according to claim 1 based on machine vision picks device, which is characterized in that the notch is adopted
It is designed with rectangle, length is 16 millimeters, and width is 2 millimeters, and depth is through pressing plate.
3. the bird's nest feather according to claim 1 based on machine vision picks device, which is characterized in that the pedestal top
Portion is equipped with two flutings convenient for connection external high pressure tracheae, and in base central, the other end extends for one end setting of the fluting
To susceptor edges.
4. the bird's nest feather according to claim 1 based on machine vision picks device, which is characterized in that the clip with
Connecting interface between sliding block is set as the U type slot of gap size when convenient for adjusting clamped condition.
5. the bird's nest feather according to claim 1 based on machine vision picks device, which is characterized in that a pair of folder
Sub- lower end is equipped with 8 interlaced teeth.
6. the bird's nest feather according to claim 1 based on machine vision picks device, which is characterized in that the video camera
Using industrial CCD color RGB video camera；The vision light source uses LED light source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821131776.7U CN209109636U (en) | 2018-07-17 | 2018-07-17 | A kind of bird's nest feather based on machine vision picks device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821131776.7U CN209109636U (en) | 2018-07-17 | 2018-07-17 | A kind of bird's nest feather based on machine vision picks device |
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| Publication Number | Publication Date |
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| CN209109636U true CN209109636U (en) | 2019-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821131776.7U Withdrawn - After Issue CN209109636U (en) | 2018-07-17 | 2018-07-17 | A kind of bird's nest feather based on machine vision picks device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109013386A (en) * | 2018-07-17 | 2018-12-18 | 广东工业大学 | A kind of bird's nest feather based on machine vision picks device and method |
| CN111906073A (en) * | 2020-08-12 | 2020-11-10 | 广西自贸区燕握生物科技有限公司 | Cubilose cleaning device and cleaning method thereof |
| CN113210288A (en) * | 2021-05-08 | 2021-08-06 | 重庆工业职业技术学院 | Intelligent grading plant is used in edible bird's nest production |
-
2018
- 2018-07-17 CN CN201821131776.7U patent/CN209109636U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109013386A (en) * | 2018-07-17 | 2018-12-18 | 广东工业大学 | A kind of bird's nest feather based on machine vision picks device and method |
| CN109013386B (en) * | 2018-07-17 | 2023-05-16 | 广东工业大学 | Bird's nest feather picking device and method based on machine vision |
| CN111906073A (en) * | 2020-08-12 | 2020-11-10 | 广西自贸区燕握生物科技有限公司 | Cubilose cleaning device and cleaning method thereof |
| CN113210288A (en) * | 2021-05-08 | 2021-08-06 | 重庆工业职业技术学院 | Intelligent grading plant is used in edible bird's nest production |
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