CN210732458U - Identification system and material picking mechanism - Google Patents
Identification system and material picking mechanism Download PDFInfo
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- CN210732458U CN210732458U CN201921119119.5U CN201921119119U CN210732458U CN 210732458 U CN210732458 U CN 210732458U CN 201921119119 U CN201921119119 U CN 201921119119U CN 210732458 U CN210732458 U CN 210732458U
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Abstract
The utility model discloses an identification system, including elevating system, visual system, control box, visual system locates on the elevating system and goes up and down along with elevating system, and control box control elevating system goes up and down and control visual system gathers the image to judge whether the image is clear. A material picking mechanism comprises the identification system, a mechanical arm, a cargo loading mechanism and a depth of field calibration column, wherein calibration circles are arranged on the depth of field calibration column, the number of the depth of field calibration column is at least four, the height of each calibration circle on the depth of field calibration column is the same, the calibration circles are arranged in the depth of field range of a camera, a control box controls the movement of the mechanical arm, the cargo loading mechanism is arranged below the mechanical arm, and the depth of field calibration column is arranged at the side of the cargo loading mechanism. A fixed-focus camera with low price is adopted, and the change of the depth of field is adapted through the automatic lifting of the camera; the self-adaptive calibration of the visual system is realized by combining the arrangement of the calibration circle, the universality is realized for solving the self-adaptive depth of field problem, and the accuracy and reliability of the identification of the shot object are ensured.
Description
Technical Field
The utility model relates to a robot identification field especially relates to identification system and material pick-up mechanism.
Background
The camera depth of field refers to a range in which a subject in a shooting scene presents a sharp image. When the distance between the shot object and the focal plane of the camera is smaller than the minimum value of the depth of field or larger than the maximum value of the depth of field, the camera cannot capture a clear shot object image. Factors that affect the depth of field include the allowable circle of confusion diameter, focal length, the aperture value used by the lens, the focus distance, etc.
The HAND-EYE collaborative robot adopts the camera TO discern the material, and the recognition mode includes EYE-TO-HAND mode and EYE-IN-HAND mode, and wherein, EYE-TO-HAND mode is arranged comparatively conveniently, and can utilize manipulator operating gap TO implement object image and catch, and is comparatively high-efficient, and industrial application is more. The EYE-TO-HAND mode, however, is susceptible TO environmental conditions, resulting in poor imaging resolution. For example, when the EYE-TO-HAND mode is adopted for box material identification, the distance between the material in the box body and the camera changes along with the taking and placing of the material, when the distance between the material and the camera exceeds the depth of field range capable of clearly imaging, the imaging of the material is blurred, and the shape and the position of the material cannot be determined by the HAND-EYE cooperative robot, so that the grabbing failure of the manipulator is caused. In order to cope with such a problem, a camera equipped with an auto zoom system may be used to recognize a material and adjust the depth of field by automatically extending a lens.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: 1. the existing recognition system can not automatically adjust the depth of field to adapt to the change of the distance between a shot object and a camera; 2. the distance between the material and the camera can be changed in the existing material picking mechanism, and the material identification can be failed and the material cannot be picked under the condition that the distance between the material and the camera exceeds the depth of field range of the camera.
The utility model provides a solution of its technical problem is:
the identification system comprises a lifting mechanism, a visual system and a control box, wherein the visual system is arranged on the lifting mechanism and goes up and down along with the lifting mechanism, the control box controls the lifting mechanism to go up and down, the control box controls the visual system to collect images, and the control box identifies the images collected by the visual system and judges whether the images are clear or not.
The principle of the present identification system is. The visual system collects a picture of a peripheral target object and transmits the picture to the control box; the control box identifies the picture and judges whether the picture is clear or not; if the picture is clear, finishing the identification; and if the picture is unclear, the control box controls the lifting mechanism to ascend or descend, and then controls the visual system to acquire the picture of the peripheral target object again until the clear picture is acquired. The utility model discloses an identification system can adjust the distance of visual system and shot object through the height of adjusting visual system, finally adjusts the distance of shot object and visual system to visual system's depth of field within range, gathers clear shot object picture.
A method for determining whether an image acquired by a vision system is clear, which provides a feasible technical scheme in the prior art, for example, chinese patent with patent number CN201710178827.5, entitled image definition recognition method, identity authentication method and apparatus, provides an image definition recognition method, identity authentication method and apparatus, which acquires a face image when an image acquisition condition is satisfied, calculates a definition index of the face image, and sends the face image to an identity authentication apparatus for subsequent image comparison if the definition is less than or equal to a first threshold, thereby authenticating the identity of a user; if the definition is greater than the first threshold, the face image is not clear enough and cannot be used as a basis for comparing the face image, and the technical scheme of re-collecting the face image is needed. In the present application, images of the subject at both ends of the depth range may be recorded, and the sharpness of the two images may be used as the sharpness threshold.
Further, the vision system comprises two cameras which are arranged at equal height. Therefore, a double-shot recognition system can be formed, and the recognition accuracy is improved.
Optionally, elevating system include the support of vertical setting, with support sliding connection's mounting bracket, with the lead screw that the mounting bracket transmission is connected, with the first motor that the lead screw transmission is connected, first motor with the support rigid coupling, the control box control first motor starts or closes, just the control box control the soon of the power of first motor output is to. The direction of rotation of first motor output is different, and then the direction of rotation of lead screw is different, and the mounting bracket of the interlinkage with lead screw transmission can upwards or downwards move along lead screw and support to drive vision system and reciprocate.
Optionally, still include translation mechanism, be equipped with the second motor on the mounting bracket, still include with the horizontal transfer area that second motor transmission is connected, the rigid coupling has the camera carrier on the conveyer belt, the camera is located on the camera carrier. The position of the vision system is adjusted horizontally, the distance between the vision system and the object can also be adjusted, and the object can be possibly brought into the depth range of the vision system.
Further, translation mechanism include with two stoppers of mounting bracket rigid coupling, two the stopper is located respectively the left side and the right side of camera carrier. The structure is used for preventing the camera carrier from falling off the mounting frame.
The utility model also provides a mechanism is picked up to material, including above-mentioned identification system, still include manipulator, goods loading mechanism, the calibration post of depth of field, be equipped with the demarcation circle on the calibration post of depth of field, the quantity of the calibration post of depth of field is four at least, and the height of the demarcation circle on every calibration post of depth of field is the same, the demarcation circle is located in the depth of field scope of camera, the control box control the manipulator motion, goods loading mechanism locates the manipulator below, the calibration post of depth of field is located goods loading mechanism side.
In the material picking mechanism, the number of the calibration circles is preferably six, so that the coordinate conversion process can be reduced. The method comprises the steps of taking the center of a calibration circle as an origin to establish a world coordinate system, measuring world coordinates of the centers of the rest five circles, enabling a manipulator to have the coordinate system of the manipulator, wherein the coordinate system is called a machine coordinate system, measuring machine coordinates of the centers of the six calibration circles by using the manipulator, and establishing a conversion relation between the world coordinate system and the machine coordinate system because the world coordinates of the centers of the six calibration circles are known.
The coordinate system with the camera as the center is called as a camera coordinate, the position of the vision system is adjusted to enable the shot object to be shot to be a clear image, the vision system is used for sensing the position of the shot object and the calibration circle to obtain the camera coordinate of the shot object and the calibration circle, and the machine coordinate of the calibration circle is known, so that the conversion relation between the camera coordinate system and the machine coordinate system can be obtained, the machine coordinate of the shot object can be calculated according to the camera coordinate of the shot object, the control box adjusts the manipulator according to the machine coordinate of the shot object, and the function of accurately grabbing the shot object, namely grabbing goods in the goods loading mechanism, is realized.
The relationship between the world coordinate system and the camera coordinate system can be described by a rotation matrix and a translation vector, wherein the translation vector is a 3 x 1 row vector, and the rotation matrix is a 3 x 3 unit orthogonal matrix. The rotation matrix and the translation vector have twelve unknown numbers, and one space corresponding point can obtain three equations, so that the rotation matrix and the translation vector can be obtained by four corresponding points. Therefore, the number of the calibration circles is at least four, the conversion from the camera coordinate system to the world coordinate system can be solved by knowing the three-dimensional coordinates of the centers of the six calibration circles in the camera coordinate system and the world coordinate system, and the conversion relation is solved by adopting six points instead of four points, because the result can be more accurate by adopting a plurality of points.
Further, the height of the calibration circle is between the height of the highest point and the lowest point of the cargo loading mechanism. The position of the goods needs to be near the position of the calibration circle, so that the camera can be ensured to simultaneously recognize clear goods images and calibration circle images, and the world coordinates of the camera and the camera coordinates of the goods are obtained.
Optionally, the goods loading mechanism is an AGV, and the control box controls the AGV to move. AGV dolly: the automatic Guided Vehicle is provided with an automatic guide device such as an electromagnetic or optical device, can run along a specified guide path, is a transport Vehicle, does not need a transport Vehicle of a driver in industrial application, and takes a rechargeable storage battery as a power source.
The utility model has the advantages that: 1. the vision system can automatically adjust the height, and adopts a fixed-focus camera with lower price to adapt to the change of the depth of field through the automatic lifting of the camera; 2. the lifting freedom degree of the vision system is combined with the setting of the calibration circle, the self-adaptive calibration of the vision system is realized, the universality is realized on the solution of the self-adaptive depth of field problem, and the accuracy and reliability of the identification of the shot object are ensured.
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In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures represent only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from these figures without inventive effort.
Fig. 1 is a front view of the present invention;
fig. 2 is a plan view of the present invention.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive labor based on the embodiments of the present invention all belong to the protection scope of the present invention. In addition, all the connection relations mentioned herein do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. The utility model discloses each technical feature in the creation can the interactive combination under the prerequisite that does not contradict conflict each other.
With reference to fig. 1 to 2, this is an embodiment of the invention, in particular:
the identification system comprises: including elevating system, visual system, control box 6, visual system locates elevating system goes up and down along elevating system goes up and down together, control box 6 control elevating system goes up and down, control box 6 control visual system gathers the image, control box 6 discernment the image that visual system gathered and judgement whether the image is clear. The vision system comprises two cameras 21 arranged at equal height. Elevating system include vertical setting the support 11, with 11 sliding connection's of support mounting bracket 12, with lead screw 13 that the transmission of mounting bracket 12 is connected, with first motor 10 that the transmission of lead screw 13 is connected, first motor 10 with 11 rigid couplings of support, control box 6 control first motor 10 starts or closes, just control box 6 control the power of first motor 10 output revolve to. Still include translation mechanism, be equipped with second motor 70 on the mounting bracket 12, still include with the horizontal transfer area 71 that second motor 70 transmission is connected, the rigid coupling has camera carrier 22 on the conveyer belt 71, camera 21 is located on the camera carrier 22. The two limiting blocks 72 are respectively arranged on the left side and the right side of the camera carrier 22.
The material picking mechanism comprises: the identification system comprises a manipulator 4, a goods loading mechanism 5 and a depth of field calibration column 3, wherein calibration circles are arranged on the depth of field calibration column 3, the number of the depth of field calibration columns 3 is at least four, the height of each calibration circle on the depth of field calibration column 3 is the same, the calibration circles are arranged in the depth of field range of the camera 21, the manipulator 4 is controlled by the control box 6 to move, the goods loading mechanism 5 is arranged below the manipulator 4, and the depth of field calibration column 3 is arranged beside the goods loading mechanism 5. The height of the calibration circle is between the height of the highest point and the lowest point of the goods loading mechanism 5. The goods loading mechanism 5 is an AGV, and the control box 6 controls the AGV to move.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the details of the embodiments shown, but is capable of various modifications and substitutions without departing from the spirit of the invention.
Claims (8)
1. An identification system, characterized by: including elevating system, visual system, control box (6), visual system locates elevating system goes up and down along elevating system goes up and down together, control box (6) control elevating system goes up and down, control box (6) control visual system gathers the image, control box (6) discernment the image that visual system gathered and judgement whether the image is clear.
2. The identification system of claim 1, wherein: the vision system comprises two cameras (21) arranged at equal heights.
3. The identification system of claim 1, wherein: elevating system include vertical setting support (11), with support (11) sliding connection's mounting bracket (12), with lead screw (13) that mounting bracket (12) transmission is connected, with first motor (10) that lead screw (13) transmission is connected, first motor (10) with support (11) rigid coupling, control box (6) control first motor (10) start or close, just control box (6) control the power of first motor (10) output revolve to.
4. The identification system of claim 3, wherein: still include translation mechanism, be equipped with second motor (70) on mounting bracket (12), still include with horizontal conveyer belt (71) that second motor (70) transmission is connected, the rigid coupling has camera carrier (22) on conveyer belt (71), camera (21) are located on camera carrier (22).
5. The identification system of claim 4, wherein: translation mechanism include with two stopper (72) of mounting bracket (12) rigid coupling, two stopper (72) are located respectively the left side and the right side of camera carrier (22).
6. Mechanism is picked up to material, its characterized in that: the identification system comprises the identification system as claimed in claim 2, and further comprises a mechanical arm (4), a cargo loading mechanism (5) and a depth of field calibration column (3), wherein calibration circles are arranged on the depth of field calibration column (3), the number of the depth of field calibration columns (3) is at least four, the height of the calibration circle on each depth of field calibration column (3) is the same, the calibration circles are arranged in the depth of field range of the camera (21), the control box (6) controls the mechanical arm (4) to move, the cargo loading mechanism (5) is arranged below the mechanical arm (4), and the depth of field calibration column (3) is arranged beside the cargo loading mechanism (5).
7. The material pickup mechanism of claim 6, wherein: the height of the calibration circle is between the height of the highest point and the lowest point of the goods loading mechanism (5).
8. The material pickup mechanism of claim 7, wherein: the goods loading mechanism (5) is an AGV, and the control box (6) controls the AGV to move.
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CN201921119119.5U CN210732458U (en) | 2019-07-16 | 2019-07-16 | Identification system and material picking mechanism |
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CN201921119119.5U CN210732458U (en) | 2019-07-16 | 2019-07-16 | Identification system and material picking mechanism |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110328666A (en) * | 2019-07-16 | 2019-10-15 | 汕头大学 | Identifying system and material mechanism for picking |
CN111942834A (en) * | 2020-08-03 | 2020-11-17 | 东华大学 | Bale handling and discharging device and method for straight-row bale plucker |
-
2019
- 2019-07-16 CN CN201921119119.5U patent/CN210732458U/en not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110328666A (en) * | 2019-07-16 | 2019-10-15 | 汕头大学 | Identifying system and material mechanism for picking |
CN111942834A (en) * | 2020-08-03 | 2020-11-17 | 东华大学 | Bale handling and discharging device and method for straight-row bale plucker |
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