CN108405374A - A kind of mechanical arm picking up system of automatic discrimination different colours - Google Patents
A kind of mechanical arm picking up system of automatic discrimination different colours Download PDFInfo
- Publication number
- CN108405374A CN108405374A CN201810103285.XA CN201810103285A CN108405374A CN 108405374 A CN108405374 A CN 108405374A CN 201810103285 A CN201810103285 A CN 201810103285A CN 108405374 A CN108405374 A CN 108405374A
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- mechanical arm
- different colours
- automatic discrimination
- workbench
- picking
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- 239000003086 colorant Substances 0.000 title claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004040 coloring Methods 0.000 abstract 1
- 241000252254 Catostomidae Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of mechanical arm picking up system of automatic discrimination different colours, including：Workbench, obtains the tool image on workbench, image processing tool, control assembly, and mechanical arm captures object component, then the different colours object taken according to camera comes out the object automatic Picking of different colours.Compared with prior art, the present invention has simple in structure, it is readily transported, equal technological merits easy to operate, the object space coordinate and colouring information that take are sent to image processing tool by the tool image obtained on workbench, the characteristic information handled well is transferred to control assembly by image processing tool, control assembly controls the motor of three direction of motion again, to realize that manipulator motion to the coordinate of different colours object, is finally realized and picks up different colours object using sucker and be placed on designated position function.
Description
Technical field
The present invention relates to pickup robot technical fields, are picked up more particularly, to a kind of mechanical arm of automatic discrimination different colours
Take system.
Background technology
In a variety of different colours objects, it would be desirable to pick out the object of particular color, hand picking needs a large amount of
Time and efforts, and efficiency is very low.Chinese patent CN204842264U discloses a kind of color sorter, including：For
Convey the conveyer belt of material；Servo motor, with conveying band connection；Tansducer For Color Distiguishing is arranged in the side of the conveyer belt,
The detection direction of color sensor is to be arranged perpendicular to the conveying tape feeding direction；Controller is identified with the color and is sensed
Device connects, and the color signal for obtaining Tansducer For Color Distiguishing transmission, the controller is also connect with the servo motor, uses
In the opening and closing according to the color signal control servomotor of acquisition；Audio unit and warning luminous device are warned, respectively
It is connect with the controller.But the patent is a kind of Image Acquisition system of color correspondence one sensor and a radiation source
System, three kinds of colors just correspond to three sensors and light source, once color is more in this way, configures multiple sensors and light source will very
The advantages of inconvenience, the application is the object that multiple and different color on a photo is identified using computer software, i.e. high in this way
Effect is again practical, in addition, the control system of the patent uses PLC controls, the control system of the application to use a list
Piece machine, microcontroller are also to be controlled by computer software, and PLC control system takes up space greatly, mobile inconvenient, and the scope of application has
Limit, in contrast, this patent has only used a microcontroller, not only overcomes the disadvantage of PLC control system heaviness, and can
Meet a variety of different demands for control.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of automatic discrimination is different
The mechanical arm picking up system of color allows sucker on mechanical arm can using image recognition technology, the communication technology and computer technology
It finds the object of designated color and is put into designated position.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of mechanical arm picking up system of automatic discrimination different colours, including
Workbench obtains the tool image on workbench, image processing tool, control assembly, mechanical arm, crawl group of objects
Part,
The image processing tool is the computer for being equipped with OpenMv softwares, the image work obtained on workbench
Tool is connect with image processing tool, which is connected with the control assembly, which connects and control
The stepper motor in three directions of mechanical arm, the crawl object component are arranged in the end of mechanical arm.
It includes the camera being mounted on feature board, example to obtain the tool image on workbench as a preferred technical solution,
Cam M4 model video cameras such as may be used, the feature board sends the picture that camera takes to image processing tool.
OpenMv softwares handle the picture of transmission as a preferred technical solution, find out on image object in X, Y
Position under coordinate system and color.
Workbench is equipped with X as a preferred technical solution, and Y coordinate can find the specific coordinate value of object in this way,
Workbench is supported with four triangular supports.
Control assembly includes MTK microcontrollers as a preferred technical solution, and an input port of the microcontroller, which receives, to be passed
The image information to come over, three output ports connect the motor in three directions of motion.
The Motor controlling machine tool arm in three directions of motion moves in the X, Y, Z direction as a preferred technical solution,.
The bottom of mechanical arm is set there are two the rotatable chassis connected with bearing as a preferred technical solution, and bearing is
Thrust ball bearing can make two chassis realization 360 degree rotations up and down in this way.
Crawl object component includes vacuum pump and sucker as a preferred technical solution, and vacuum pump is connected with sucker, is kept away
Gas leakage is to make object fall when having exempted from absorption object.
Compared with prior art, the present invention can take pictures in real time automatically, and then mechanical arm will be moved into the coordinate bit of object
It sets, particular color object is picked up to the sucker for opening mechanical arm by microcontroller, and be placed into designated position automatically, by repairing
Change the Python code in OpenMv, realizes that different color sequences and particular color etc. pick up function.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
In figure, 1- cameras, 2- workbench, 3-MTK microcontrollers, 4- rotatable chassis, 5- control X-directions motor, 6- control Y
Direction motor, 7- control Z-directions motor, 8- mechanical arms, 9- suckers, 10- computers.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
Embodiment
A kind of mechanical device that can be distinguished different colours and can pick out respectively, structure is as shown in Figure 1, packet
Camera 1 is included, Cam M4 model video cameras, workbench 2, MTK microcontrollers 3, rotatable chassis 4, control are used in the present embodiment
X-direction motor 5 processed, control Y-direction motor 6, control Z-direction motor 7, mechanical arm 8, sucker 9, computer 10.Wherein Cam M4
Model camera is the hardware in terms of being exclusively used in machine vision, and mating software OpenMv is also special disposal machine vision, will
The picture that camera 1 takes workbench 2 sends computer 10 to, and the upper right corner can generate picture on the software of OpenMv, above
Have Python programs, below can in picture position feature and color characteristic by string believe port be transferred to MTK microcontrollers 3.
MTK microcontrollers 3 are controlled by software the x position information of color of object object being transferred to control X-direction motor 5,
Y location information is transferred to control Y-direction motor 6, Z location information is transferred to control Z-direction motor 7, the three of microcontroller
A output port is connected on motor respectively, for controlling the angle of above-mentioned motor rotation, keeps the sucker 9 on mechanical arm 8 suitable
The overlying regions for being moved to color of object object of profit.
When sucker 9 is moved to correct coordinate, the stepper motor rotation of z-axis is controlled, sucker is downwardly against object, monolithic
The vacuum pump of machine control can start automatically, drain the air in sucker, can thus form the draught head inside and outside sucker, to
Object is sucked, the coordinate value (x, y) then set according to SCM program, sucker is moved to this coordinate value, microcontroller control
Vacuum pump stops, to make object fall.
The bottom of mechanical arm 8 is set there are two the rotatable chassis 4 connected with thrust ball bearing, can make two up and down in this way
Realize 360 degree rotation in chassis.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (9)
1. a kind of mechanical arm picking up system of automatic discrimination different colours, which is characterized in that the system includes：
Workbench, obtain workbench on tool image, image processing tool, control assembly, mechanical arm, capture object component,
The image processing tool is the computer for being equipped with OpenMv softwares, the described tool image obtained on workbench with
Image processing tool connects, which is connected with the control assembly, control assembly connection and control machinery
The stepper motor in three directions of arm, the crawl object component are arranged in the end of mechanical arm.
2. a kind of mechanical arm picking up system of automatic discrimination different colours according to claim 1, which is characterized in that described
Acquisition workbench on tool image include be mounted on feature board on camera, the figure that the feature board takes camera
Piece sends image processing tool to.
3. a kind of mechanical arm picking up system of automatic discrimination different colours according to claim 2, which is characterized in that described
OpenMv softwares the picture of transmission is handled, find out position and color of the object at X, Y coordinate system on image.
4. a kind of mechanical arm picking up system of automatic discrimination different colours according to claim 1, which is characterized in that described
Workbench be equipped with X, Y coordinate.
5. a kind of mechanical arm picking up system of automatic discrimination different colours according to claim 1, which is characterized in that described
Control assembly include MTK microcontrollers, an input port of the microcontroller receives the image information for being transmitted through and, three output ends
Motor in mouth three directions of motion of connection.
6. a kind of mechanical arm picking up system of automatic discrimination different colours according to claim 5, which is characterized in that described
Three directions of motion on Motor controlling machine tool arm move in the X, Y, Z direction.
7. a kind of mechanical arm picking up system of automatic discrimination different colours according to claim 1, which is characterized in that described
The bottom of mechanical arm set that there are two the rotatable chassis that are connected with bearing.
8. a kind of mechanical arm picking up system of automatic discrimination different colours according to claim 7, which is characterized in that described
Bearing be thrust ball bearing.
9. a kind of mechanical arm picking up system of automatic discrimination different colours according to claim 1, which is characterized in that described
Crawl object component include vacuum pump and sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810103285.XA CN108405374B (en) | 2018-02-01 | 2018-02-01 | Automatic distinguish arm pickup system of different colours |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810103285.XA CN108405374B (en) | 2018-02-01 | 2018-02-01 | Automatic distinguish arm pickup system of different colours |
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| Publication Number | Publication Date |
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| CN108405374A true CN108405374A (en) | 2018-08-17 |
| CN108405374B CN108405374B (en) | 2024-04-23 |
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| CN201810103285.XA Active CN108405374B (en) | 2018-02-01 | 2018-02-01 | Automatic distinguish arm pickup system of different colours |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109433657A (en) * | 2018-11-09 | 2019-03-08 | 通标标准技术服务有限公司 | Device coupler Auto-Test System |
| CN109955265A (en) * | 2019-03-08 | 2019-07-02 | 武汉理工大学 | A kind of indoor range complex intelligence shell case cleaning robot |
| CN110772774A (en) * | 2019-10-25 | 2020-02-11 | 天津工业大学 | Intelligent golf course management system based on Internet of things |
| CN111530778A (en) * | 2020-05-11 | 2020-08-14 | 湖南工学院 | Plastic color selection mechanism and method for plastic regeneration device and plastic regeneration device |
| CN111736331A (en) * | 2020-06-18 | 2020-10-02 | 湖南索莱智能科技有限公司 | Method for judging horizontal and vertical directions of glass slide and device using method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109433657A (en) * | 2018-11-09 | 2019-03-08 | 通标标准技术服务有限公司 | Device coupler Auto-Test System |
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| CN109955265A (en) * | 2019-03-08 | 2019-07-02 | 武汉理工大学 | A kind of indoor range complex intelligence shell case cleaning robot |
| CN110772774A (en) * | 2019-10-25 | 2020-02-11 | 天津工业大学 | Intelligent golf course management system based on Internet of things |
| CN111530778A (en) * | 2020-05-11 | 2020-08-14 | 湖南工学院 | Plastic color selection mechanism and method for plastic regeneration device and plastic regeneration device |
| CN111530778B (en) * | 2020-05-11 | 2021-11-16 | 湖南工学院 | Plastic color selection mechanism and method for plastic regeneration device and plastic regeneration device |
| CN111736331A (en) * | 2020-06-18 | 2020-10-02 | 湖南索莱智能科技有限公司 | Method for judging horizontal and vertical directions of glass slide and device using method |
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| Publication number | Publication date |
|---|---|
| CN108405374B (en) | 2024-04-23 |
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