CN218462182U

CN218462182U - Unmanned vehicle with automatic calibration function of mechanical arm

Info

Publication number: CN218462182U
Application number: CN202222636317.7U
Authority: CN
Inventors: 詹婷婷; 苏吉贤; 萧延强
Original assignee: Dongguan Xaircraft Technology Co ltd
Current assignee: Dongguan Xaircraft Technology Co ltd
Priority date: 2022-10-08
Filing date: 2022-10-08
Publication date: 2023-02-10
Anticipated expiration: 2032-10-08

Abstract

The application discloses unmanned car with automatic function of maring of arm, including automobile body, arm and calibration board, arm one end fixed mounting in the automobile body, the other end form the arm and move the platform, the calibration board is installed the arm moves on the platform, it is right still to be provided with on the arm moves the platform be used for the calibration board cleaning device that the calibration surface of calibration board carries out cleanly. The calibration plate which is used as a mechanical arm position calibration reference in the application is arranged on the mechanical arm moving platform, the installation of the calibration plate is not needed manually in the process of calibrating the mechanical arm position, the installation position of the calibration plate is more accurate, the efficiency of calibrating the mechanical arm position is improved simultaneously, and by placing the calibration plate cleaning device, the unmanned vehicle can be prevented from being dirtied under the farmland environment and the problem that the calibration cannot be carried out due to the fact that the calibration surface is shielded.

Description

Unmanned vehicle with automatic calibration function of mechanical arm

Technical Field

The application relates to the technical field of agricultural automation equipment, in particular to an unmanned vehicle with an automatic mechanical arm calibration function.

Background

The unmanned vehicle can be applied to scenes such as agriculture and industry, and in the field of plant protection, various operation devices can be installed on the unmanned vehicle to realize spraying of medicaments, seeds, powder and the like. Compared with the traditional manual operation, the labor intensity can be greatly reduced, and the operation efficiency is improved.

Unmanned vehicle carries on arm when the farmland operation, because the automobile body that the farmland ground is uneven brought rocks, reasons such as arm running error accumulation, zero point that the arm was markd can produce the skew, make the unsafe phenomenon in position appear in the operation, consequently, need mark the calibration often at the operation in-process, go and guarantee the rate of accuracy of arm operation, it is placing the calibration board on the arm through the manual work at every turn to mark the calibration to unmanned vehicle arm among the prior art, carry out the arm and mark, manual operation calibration board need go on under unmanned vehicle parking state, inefficiency just can occupy unmanned vehicle activity duration, can't liberate the manpower simultaneously, thereby influence the automatic operation of unmanned vehicle.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides an aim at: the unmanned vehicle with the automatic mechanical arm calibration function can realize automation of mechanical arm position calibration.

The embodiment of the utility model provides a another aim at: the utility model provides an unmanned car with automatic function of demarcating of arm, it can guarantee the cleanness of calibration board for unmanned car that carries out work under comparatively adverse circumstances can not lead to automatic calibration unable normal clear because of calibration board pollutes.

In order to achieve the purpose, the following technical scheme is adopted in the application:

the unmanned vehicle with the automatic mechanical arm calibration function comprises a vehicle body, a mechanical arm and a calibration plate, wherein one end of the mechanical arm is fixedly installed on the vehicle body, the other end of the mechanical arm is provided with a mechanical arm moving platform, the calibration plate is installed on the mechanical arm moving platform, and a calibration plate cleaning device used for cleaning the calibration surface of the calibration plate is further arranged on the mechanical arm moving platform.

Optionally, the calibration plate cleaning device is a turning device, and the calibration plate is mounted on the mechanical arm moving platform through the turning device, so that the calibration plate can be turned over along with the turning device.

Optionally, the turning device includes a turning support, the turning support is fixedly mounted on the mechanical arm moving platform, and the calibration plate is rotatably mounted on the turning support.

Optionally, the turnover driving assembly is further included, the turnover driving piece is used for driving the calibration plate to rotate relative to the turnover support, the turnover driving assembly comprises a turnover power mechanism and a turnover transmission mechanism, the turnover power mechanism is fixedly arranged relative to the turnover support, and a power output shaft of the turnover power mechanism is in transmission connection with the turnover transmission mechanism.

Optionally, a turning shaft is arranged on the turning support, the turning shaft is in transmission connection with the turning driving mechanism, and the calibration plate is fixedly mounted on the turning shaft.

Optionally, a turning shaft is arranged on the turning support and is in transmission connection with the turning driving mechanism, a mounting plate is fixedly mounted on the turning shaft, and the calibration plate is fixedly mounted on the mounting plate.

Optionally, the calibration plate cleaning device is a sweeping device, and the sweeping device is arranged to be movable relative to the calibration surface to clean the calibration surface.

Optionally, the sweeping device comprises a brush and a sweeping driving device, and the sweeping driving device is in transmission connection with the brush and is used for driving the brush to move relative to the calibration surface.

Optionally, the cleaning device comprises a support seat and a guide rod mounted on the support seat, and the brush is movably mounted on the guide rod.

Optionally, a sliding block is arranged on the guide rod, and the brush is fixedly mounted on the sliding block.

Optionally, a protection plate is further disposed outside the calibration surface, and the protection plate is made of a transparent material.

The beneficial effect of this application does: the calibration plate which is used as a mechanical arm position calibration reference in the application is arranged on the mechanical arm moving platform, the installation of the calibration plate is not needed manually in the process of calibrating the mechanical arm position, the installation position of the calibration plate is more accurate, the efficiency of calibrating the mechanical arm position is improved simultaneously, and by placing the calibration plate cleaning device, the unmanned vehicle can be prevented from being dirtied under the farmland environment and the problem that the calibration cannot be carried out due to the fact that the calibration surface is shielded.

Drawings

The present application will be described in further detail below with reference to the accompanying drawings and examples.

Fig. 1 is a schematic view of a three-dimensional structure of an unmanned vehicle with an automatic calibration function of a mechanical arm according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a cleaning device for a calibration plate according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of another cleaning device for calibration plates according to an embodiment of the present invention;

in the figure:

100. a vehicle body; 200. a mechanical arm; 210. a mechanical arm moving platform; 300. calibrating the plate; 410. a turning device; 411. turning over the bracket; 412. a turning shaft; 413. mounting a plate; 420. a cleaning device; 421. a brush; 422. a supporting seat; 423. a guide bar; 424. a slider; 425. an electric push rod.

Detailed Description

In order to make the technical problems solved, technical solutions adopted, and technical effects achieved by the present application clearer, the following describes technical solutions of embodiments of the present application in further detail, and it is obvious that the described embodiments are only a part of embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1 to 3, the present application provides an unmanned aerial vehicle with an automatic calibration function of a robot arm, including a vehicle body 100, a robot arm 200, and a calibration plate 300, wherein one end of the robot arm 200 is fixedly mounted on the vehicle body 100, and the other end of the robot arm forms a robot arm moving platform 210, the calibration plate 300 is mounted on the robot arm moving platform 210, and the robot arm moving platform 210 is further provided with a calibration plate cleaning device for cleaning a calibration surface of the calibration plate 300.

To mark the calibration plate 300 that refers as arm 200 position in this application and set up on mechanical arm moves platform 210, in the in-process of carrying out arm 200 position demarcation, need not the manual work and mark the installation of plate 300, make its mounted position more accurate, the efficiency of arm 200 position demarcation has been improved simultaneously, through placing calibration plate cleaning device, can prevent that unmanned car from being made dirty under farmland environment, mark the problem emergence that the surface sheltered from and lead to unable demarcation.

In applications such as machine vision, image measurement, photogrammetry and three-dimensional reconstruction, a geometric model of camera imaging needs to be established for correcting lens distortion, determining a conversion relation between a physical size and a pixel, and determining a correlation between a three-dimensional geometric position of a certain point on the surface of a space object and a corresponding point in an image. The flat plate with the fixed-spacing pattern array is shot by the camera, and a geometric model of the camera can be obtained through calculation of a calibration algorithm, so that high-precision measurement and reconstruction results are obtained, and the flat plate with the fixed-spacing pattern array is the calibration plate 300.

It should be noted that the mechanical arm moving platform 210 in the present embodiment refers to a platform of a structure in which the end of the mechanical arm 200 is used for connecting a mechanical claw and a topping device, the lower surface of the platform is used for installing the structures such as the mechanical claw and the topping device, and the upper surface of the platform is used for installing a calibration plate cleaning device.

Specifically, referring to fig. 2, the calibration plate cleaning device in the present application is a turning device 410, and the calibration plate 300 is mounted on the mechanical arm moving platform 210 through the turning device 410, so that the calibration plate 300 can be turned over along with the turning device 410.

The calibration plate 300 is arranged on the turnover device 410 and can be turned over synchronously along with the turnover of the turnover device 410, when the mechanical arm 200 works normally, the turnover device 410 drives the calibration plate 300 to be in an inverted state, the calibration surface faces downwards, dust, leaves, sand stones and the like generated by the unmanned vehicle walking in a farmland and working cannot be accumulated on the calibration surface, when the unmanned vehicle needs to perform automatic calibration, the turnover device 410 drives the calibration plate 300 to turn over, so that the calibration surface is in a state that the calibration surface faces upwards, the position calibration of the mechanical arm 200 is completed, after the calibration is completed, the turnover device 410 drives the calibration plate 300 to turn over again, and the calibration plate 300 continues to be in an inverted state.

It should be noted that the position calibration of the mechanical arm 200 in the present application adopts a camera calibration method, and in an image measurement process and a machine vision application, in order to determine a correlation between a three-dimensional geometric position of a certain point on a surface of an object in space and a corresponding point in an image, a geometric model of camera imaging must be established, and these geometric model parameters are camera parameters. Under most conditions, the parameters can be obtained through experiments and calculation, and the process of solving the parameters is called as camera calibration (or camera calibration), it can be understood that besides the structure of the calibration board 300, a camera and other related hardware structures required to be used during calibration should be provided on an unmanned vehicle, as the camera calibration mode belongs to the prior art, specific structures and implementation modes thereof are not specifically described in the application, and other necessary structures applied to a camera calibration system in the prior art can be introduced into the technical scheme of the application by a person skilled in the art according to actual conditions, and the application focuses only on protecting the installation mode of the calibration board 300 and the calibration board cleaning device.

The application provides a concrete turning device 410 structure, refer to fig. 2, turning device 410 includes upset support 411, upset support 411 fixed mounting in the platform 210 is moved to the arm, the rotatable installation of calibration plate 300 is in on the upset support 411. The turning bracket 411 is used as a connecting member between the turning device 410 and the robot arm moving platform 210, and is used for installing the calibration plate 300 on the robot arm moving platform 210, and ensuring that the calibration plate 300 and the robot arm moving platform 210 always keep a fixed relative position in a state of calibrating the position of the robot arm 200, thereby ensuring a calibration effect.

Optionally, in order to realize the automatic upset of calibration board 300, unmanned car with automatic calibration function of arm in this application still include upset drive assembly (not shown), the upset driving piece is used for the drive calibration board 300 for upset support 411 rotates, upset drive assembly includes upset power unit and upset drive mechanism, upset power unit for upset support 411 is fixed to be set up, upset power unit's power output shaft transmission is connected upset drive mechanism.

Optionally, in this embodiment, the flipping power mechanism is a driving motor, and the flipping transmission mechanism is a gearbox. The motor casing fixed mounting of driving motor is on upset support 411 or arm moving platform 210, and driving motor's output shaft transmission connects the gearbox input, and calibration board 300 is connected in the transmission of gearbox output, and driving motor's rotation accessible gearbox transmits to calibration board 300 to drive calibration board 300 and realize the upset.

In the application, the overturning power mechanism is not limited to the driving motor, and in other embodiments, linear driving mechanisms such as a hydraulic cylinder or a pneumatic cylinder can be adopted, the rack is driven to move by the linear driving mechanism, and the rack drives the transmission gear to rotate, so that the calibration plate 300 is driven to overturn.

Optionally, in another optional embodiment of this application, be provided with upset axle 412 on the upset support 411, upset axle 412 transmission is connected upset actuating mechanism, calibration board 300 fixed mounting in upset axle 412 to the drive of upset axle 412, can adopt the scheme of above-mentioned driving motor cooperation gearbox or adopt linear driving mechanism cooperation rack, gear drive's mode, does not carry out specific restriction to it in this application.

What adopt in the above-mentioned embodiment is on the trip shaft 412 with calibration board 300 direct mount, directly drives calibration board 300 upset by trip shaft 412, can also adopt following scheme in other embodiments of this application be provided with trip shaft 412 on the upset support 411, trip shaft 412 transmission connection upset actuating mechanism, fixed mounting has mounting panel 413 on the trip shaft 412, calibration board 300 fixed mounting in on the mounting panel 413, the structure through the fixed calibration board 300 of mounting panel 413 helps simplifying the connection structure on the calibration board 300, and calibration board 300 accessible bonding's mode is fixed to the mounting panel 413, can even under the condition of not getting rid of original calibration board 300, bonds the new calibration board 300 of one deck and reaches the purpose of changing calibration board 300 on its surface.

Referring to fig. 3, the calibration board cleaning device of the unmanned vehicle with robotic arm automatic calibration function may also be a cleaning device 420, and the cleaning device 420 is configured to move relative to the calibration surface to clean the calibration surface.

That is, the accessible cleans in this embodiment and marks the surface and makes debris such as dust, leaf, grit that fall on it clear away, avoids marking the pattern and sheltered from the condition that leads to the unable completion of demarcation and takes place.

Specifically, the cleaning device 420 includes a brush 421 and a cleaning driving device, and the cleaning driving device is connected to the brush 421 in a transmission manner and is used for driving the brush 421 to move relative to the calibration surface. The moving track of the brush 421 is parallel to the calibration surface, and the bristles of the brush 421 can contact the calibration surface, so as to clean the calibration surface.

It should be pointed out that, the mode that adopts brush 421 to clean the calibration surface avoids the calibration pattern to be sheltered from, and the opportunity of brush 421 work can be selected according to actual need, promptly, the opportunity of brush 421 work can be in unmanned vehicle work and need not carry out under the state of arm 200 position calibration continuously going on, and under this situation, whenever there is debris to fall to the calibration surface, the removal of brush 421 can all be clear away it to keep calibrating the surface cleanness all the time, and when the arm 200 position calibration of needs, brush 421 stop motion carries out the calibration operation.

The timing of the operation of the brush 421 may be that the brush 421 does not move when the unmanned vehicle performs normal operation, but only starts to operate when the brush 421 is started in a specific time period before the position of the mechanical arm 200 needs to be calibrated, so as to remove impurities falling on the calibration surface during the operation of the unmanned vehicle, and then perform calibration operation, and circulate in this way, thereby ensuring the cleanness of the calibration surface during the calibration process.

Specifically, in this embodiment, a specific structure of the cleaning device 420 is provided, the cleaning device 420 includes a support seat 422 and a guide rod 423 mounted on the support seat 422, and the brush 421 is movably mounted on the guide rod 423. In this embodiment, the guide rod 423 is a rail on which the brush 421 moves, a sliding block 424 is disposed on the guide rod 423, and the brush 421 is fixedly mounted on the sliding block 424 and moves along with the moving brush 421 of the sliding block 424.

In this embodiment, the cleaning driving device is an electric push rod 425, one end of the electric push rod 425 is hinged to the supporting seat 422, the other end of the electric push rod 425 is hinged to the sliding block 424, and in the working process, the electric push rod 425 stretches and retracts to drive the sliding block 424 to slide along the guide rod 423, so that the brush 421 is driven to clean the calibration plate 300.

Because the brush 421 as the cleaning device 420 can contact with the calibration surface in the process of cleaning the calibration surface, the calibration surface is damaged to influence the calibration, in this embodiment, a protection plate (not shown) is further arranged outside the calibration surface, the protection plate is made of a transparent material, and the protection plate can prevent the brush 421 from damaging the calibration pattern to influence the calibration.

In the embodiment, the unmanned vehicle is provided with two mechanical arms 200, and each mechanical arm 200 is provided with the calibration plate 300, it should be noted that the two mechanical arms 200 are not limited to the present application, and in other embodiments, a technical solution with one mechanical arm 200 or three or four mechanical arms 200 may also be adopted.

In the description herein, it is to be understood that the terms "upper," "lower," "left," "right," and the like are used in an orientation or positional relationship merely for convenience in description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the present application. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.

The technical principles of the present application have been described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the present application and is not to be construed in any way as limiting the scope of the application. Based on the explanations herein, a person skilled in the art will be able to conceive of other embodiments of the present application without inventive effort, which shall fall within the scope of protection of the present application.

Claims

1. The unmanned vehicle with the automatic mechanical arm calibration function is characterized by comprising a vehicle body (100), a mechanical arm (200) and a calibration plate (300), wherein one end of the mechanical arm (200) is fixedly installed on the vehicle body (100), the other end of the mechanical arm is provided with a mechanical arm moving platform (210), the calibration plate (300) is installed on the mechanical arm moving platform (210), and a calibration plate cleaning device used for cleaning the calibration surface of the calibration plate (300) is further arranged on the mechanical arm moving platform (210).

2. The unmanned vehicle with the robot arm automatic calibration function as claimed in claim 1, wherein the calibration plate cleaning device is a turnover device (410), and the calibration plate (300) is mounted on the robot arm moving platform (210) through the turnover device (410) so that the calibration plate (300) can be turned over along with the turnover device (410).

3. The unmanned aerial vehicle with the robot arm automatic calibration function as claimed in claim 2, wherein the overturning device (410) comprises an overturning bracket (411), the overturning bracket (411) is fixedly mounted on the robot arm moving platform (210), and the calibration plate (300) is rotatably mounted on the overturning bracket (411).

4. The unmanned aerial vehicle with the automatic calibration function of the mechanical arm as claimed in claim 3, further comprising a turning driving component, wherein the turning driving component is used for driving the calibration plate (300) to rotate relative to the turning support (411), the turning driving component comprises a turning power mechanism and a turning transmission mechanism, the turning power mechanism is fixedly arranged relative to the turning support (411), and a power output shaft of the turning power mechanism is in transmission connection with the turning transmission mechanism.

5. The unmanned vehicle with the automatic calibration function of the mechanical arm as claimed in claim 4, wherein a turning shaft (412) is arranged on the turning bracket (411), the turning shaft (412) is in transmission connection with the turning driving mechanism, and the calibration plate (300) is fixedly mounted on the turning shaft (412).

6. The unmanned vehicle with the automatic calibration function of the mechanical arm as claimed in claim 4, wherein a turning shaft (412) is arranged on the turning support (411), the turning shaft (412) is in transmission connection with the turning driving mechanism, a mounting plate (413) is fixedly mounted on the turning shaft (412), and the calibration plate (300) is fixedly mounted on the mounting plate (413).

7. The unmanned vehicle with automatic calibration function of mechanical arm as claimed in claim 1, wherein said calibration board cleaning device is a cleaning device (420), and said cleaning device (420) is configured to move relative to said calibration surface to clean said calibration surface.

8. The unmanned vehicle with the automatic calibration function of the mechanical arm as claimed in claim 7, wherein the sweeping device (420) comprises a brush (421) and a sweeping driving device, and the sweeping driving device is in transmission connection with the brush (421) and is used for driving the brush (421) to move relative to the calibration surface.

9. The unmanned vehicle with the automatic calibration function of the mechanical arm as claimed in claim 8, wherein the sweeping device (420) comprises a support base (422) and a guide rod (423) mounted on the support base (422), and the brush (421) is movably mounted on the guide rod (423).

10. The unmanned vehicle with the automatic calibration function of the mechanical arm as claimed in claim 9, wherein a sliding block (424) is arranged on the guide rod (423), and the brush (421) is fixedly mounted on the sliding block (424).

11. The unmanned vehicle with the automatic calibration function of the mechanical arm as claimed in claim 7, wherein a protection plate is further disposed outside the calibration surface, and the protection plate is made of a transparent material.