Hexahedral posture adjusting mechanism and adjusting method thereof

Abstract

The hexahedron posture adjusting mechanism disclosed by the application belongs to the technical field of clamps, and comprises a control part and an adjusting part. The control part is used for controlling the adjusting part. The adjusting part is used for adjusting the posture of the hexahedron. The control part shoots the real-time image of the hexahedron through a camera, and performs identification and comparative analysis, so as to make the instruction of the next rotating direction of the hexahedron, and control the motor part of the adjusting part, so as to control the moving direction of the friction wheel in contact with the side surface of the hexahedron. The control is completed by the upper computer and the lower computer. The upper computer judges the rotating direction of the hexahedron, and the lower computer controls the rotating direction of the motor driving the friction wheel, so as to control the movement of the hexahedron. The application further discloses an adjusting method. The application can automatically complete the posture adjustment of the hexahedron, and has a high success rate for the case that the posture is greatly inclined.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent car auxiliary equipment, in particular to a hexahedron posture adjusting mechanism. BACKGROUND

[0002] In the RoboMaster 2022 robot competition, the participating teams need to design engineering robots to grab the target hexahedron from a certain height, adjust the target hexahedron (such as shown in the figure) to the appropriate orientation, and then perform the exchange operation. At present, most existing robots have certain defects when adjusting the target hexahedron to the appropriate orientation. Some cannot achieve the adjustment of all six faces, and some are manually adjusted by operating hands, which is limited by the field of vision and makes the efficiency relatively low. Figure 1 SUMMARY

[0003] To solve the above problems, the present application discloses a hexahedron posture adjusting mechanism, which aims to achieve the posture adjustment of the target hexahedron in a limited space, has a high accuracy, and enables the robot to automatically adjust and store the target hexahedron in the posture adjusting mechanism.

[0004] To achieve the above purpose, the technical solution of the present application is as follows:

[0005] ​The hexahedron posture adjusting mechanism comprises a control part and an adjusting part, the control part is used for controlling the adjusting part, the adjusting part is in a symmetrical structure and comprises a first friction wheel, a first motor, a hexahedron storage platform, a coupling plate one and a coupling plate two, the first friction wheel, the first motor and the coupling plate one are set in a set, the number is four sets, two by two are symmetrically installed on two sides of the hexahedron, and the four first friction wheels are all arranged on the same horizontal plane, the first friction wheel can contact the hexahedron, the bottom end of the coupling plate one is detachably installed on the hexahedron storage platform, the top end is detachably coupled and supports the first motor, the first motor is installed on one side of the first friction wheel and controls the rotating direction of the first friction wheel, the coupling plate two is coupled with the coupling plate one one by one until the coupling plate two forms a hexahedron containing cavity with an upper opening with the hexahedron storage platform, the four first friction wheels are all located above the containing cavity, when the four first friction wheels are all rotated outward / inward with respect to the side surface of the hexahedron, the hexahedron is driven to move linearly up and down, among the four first friction wheels, the first friction wheels on the same side of the hexahedron move in opposite directions, and the opposite first friction wheels move in the same direction, so that the hexahedron is driven to move left and right, and when the four first friction wheels all move in the same direction, the hexahedron is driven to move up and down. Through the rotation of the two pairs of friction wheels on the two sides, the left and right rotation and the up and down rotation of the hexahedron can be completed, the whole mechanism is simple in structure and easy to manufacture, and the posture adjusting efficiency is high.

[0006] As a further improvement of the application, the hexahedron posture adjusting mechanism further comprises a second motor and a second friction wheel, the number of the second friction wheels is n, wherein n=2x, x is an integer and ≥1, two by two are symmetrically arranged on the other two sides of the hexahedron and can contact the hexahedron, and are located on the same horizontal plane and below the first friction wheels, the second motor is installed one by one with the second friction wheel and is used for controlling the same direction rotation of the second friction wheel. The second friction wheel is arranged below the first friction wheel, so as to give positioning assistance when the first friction wheel drives the hexahedron to rotate or move linearly up and down, prevent the hexahedron from moving incorrectly, and make the whole posture adjusting mechanism more stable, easy to operate and high in operation success rate when adjusting the hexahedron.

[0007] As a further improvement of the present application, the hexahedral posture adjusting mechanism further comprises a third motor and a third friction wheel, the number of the third friction wheels is n, wherein n=2x, x is an integer, and >=1, two by two symmetrically placed on two sides of the hexahedral, and can contact the hexahedral, and are in the same horizontal plane, and are located below the second friction wheel, the third motor is installed one by one with the third friction wheel, for controlling the rotation of the third friction wheel in the same direction. The third friction wheel is arranged below the second friction wheel, and the second friction wheel and the third friction wheel assist each other to complete the up-down linear movement of the hexahedral, so that the system is more stable and the operation efficiency is high during the whole adjusting mechanism realizes the up-down linear movement of the moving hexahedral.

[0008] As a further improvement of the present application, the hexahedral posture adjusting mechanism further comprises a second motor and a second friction wheel, the number of the second friction wheels is n, wherein n=2x, x is an integer, and >=1, two by two symmetrically placed on the other two sides of the hexahedral, and can contact the hexahedral, and are in the same horizontal plane, and are located below the first friction wheel, the second friction wheels on the same side are coaxially installed with a second motor, so as to rotate in the same direction under the drive of the second motor. The second friction wheel is arranged below the first friction wheel, in order to give positioning assistance when the first friction wheel drives the hexahedral to overturn or move up and down linearly, prevent the hexahedral from moving incorrectly, and make the whole posture adjusting mechanism more stable, easy to operate, and high in operation success rate when adjusting the hexahedral whether it is overturning or moving up and down linearly. In the technical solution, the second friction wheels on the same side of the hexahedral are coaxially installed and controlled by the same second motor, which reduces the cost and improves the operation efficiency of the second friction wheel, and then improves the efficiency of the hexahedral movement.

[0009] As a further improvement of the present application, the hexahedral posture adjusting mechanism further comprises a third motor and a third friction wheel, the number of the third friction wheels is n, wherein n=2x, x is an integer, and >=1, two by two symmetrically placed on two sides of the hexahedral, and can contact the hexahedral, and are in the same horizontal plane, and are located below the second friction wheel, the third motor is installed one by one with the third friction wheel, for controlling the rotation of the third friction wheel in the same direction. The third friction wheel is arranged below the second friction wheel, and the second friction wheel and the third friction wheel assist each other to complete the up-down linear movement of the hexahedral, so that the system is more stable and the operation efficiency is high during the whole adjusting mechanism realizes the up-down linear movement of the moving hexahedral.

[0010] As a further improvement of the present application, the control part comprises a camera, an upper computer and a lower computer, the camera is installed directly above the adjusting part and is communicatively coupled with the upper computer, the first motor, the second motor and the third motor are all communicatively coupled with the lower computer, for driving the corresponding first friction wheel, second friction wheel and third friction wheel to rotate after receiving the instruction of the lower computer, so as to drive the hexahedron to move up and down linearly or to rotate front and back and left and right.

[0011] The present application also discloses a method for adjusting the posture of a hexahedron by using the above-mentioned hexahedron posture adjusting mechanism, and the method comprises the following steps:

[0012] S1: the camera photographs the target hexahedron to obtain a real-time image of the target hexahedron, and transmits the real-time image to the upper computer for S2;

[0013] S2: the upper computer adopts visual posture recognition on the real-time image to obtain the real-time posture of the target hexahedron, and performs S3;

[0014] S3: the upper computer determines the next rotating direction of the target hexahedron in combination with the characteristics of the target hexahedron and outputs an instruction to the lower computer, if the determination is OK, S5 is performed, otherwise, S4 is performed;

[0015] S4: the lower computer controls the first motor, the second motor or the third motor to move according to the rotating direction instruction of the target hexahedron transmitted by S3, so as to realize the posture adjustment of the target hexahedron above the hexahedron storage platform, and returns to S1;

[0016] S5: the upper computer outputs an instruction to the lower computer to stop the motor movement, and the adjustment is completed.

[0017] As a further improvement of the present application, the visual posture recognition is realized by Gaussian denoising, binary processing, mask processing, edge recognition, multi-edge fitting, convex analysis, affine transformation and template matching to identify the orientation of the target hexahedron, and the position of the target hexahedron relative to the posture adjusting mechanism is adjusted by PNP pose solution in combination with the orientation information.

[0018] As a further improvement of the present application, the upper computer and the lower computer communicate with each other through a serial port, the upper computer is a computer, and the lower computer is a single-chip microcomputer, the first motor, the second motor and the third motor are controlled by the single-chip microcomputer, so as to control the rotating directions of the first friction wheel, the second friction wheel and the third friction wheel.

[0019] The present application has the following advantages:

[0020] 1. The application designs three groups of friction wheels and corresponding motors for controlling them, combines the control part, controls the motor, thereby controls the running direction of the friction wheel, realizes the automatic adjustment function of the hexahedron posture, and does not need manual intervention;

[0021] 2. The application designs a visual posture recognition function, uses a camera to shoot real-time images, combines control components such as an upper computer and a lower computer, inputs a control program, obtains the hexahedron posture and orientation, thereby controls the adjustment direction of the hexahedron posture, and greatly improves the accuracy and success rate of adjustment;

[0022] 3. The application designs three groups of friction wheels and corresponding motor groups, the number of each group of friction wheels is four, the uppermost group is the first friction wheel four combination, which can realize the up-down linear motion and overturning motion of the hexahedron, the middle group is the second friction wheel four combination, which can assist the first friction wheel, prevent the hexahedron from moving incorrectly during the movement process, and make the whole posture adjustment mechanism work more stably and smoothly.

[0023] In summary, the hexahedron posture adjustment mechanism of the application uses visual posture recognition to obtain the posture and orientation of the hexahedron, outputs the rotation direction of the hexahedron through the control part, then controls the motor to rotate the friction wheel, thereby controls the posture adjustment of the target hexahedron, can automatically complete the adjustment of the posture of any face of the hexahedron without manual intervention, has a very high success rate for the case of large posture inclination, at the same time, the detection speed is fast, the real-time performance is good, and the application prospect is wide. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structure diagram of the hexahedron used in the application;

[0025] Figure 2 It is a whole structure diagram of the hexahedron posture adjustment mechanism of the application;

[0026] Figure 3 It is a running direction diagram of the friction wheel when the hexahedron is overturned around the X-axis;

[0027] Figure 4 It is a running direction diagram of the friction wheel when the hexahedron is overturned around the Y-axis;

[0028] Figure 5 It is a running direction diagram of the friction wheel when the hexahedron is linearly moved in the Z-axis direction;

[0029] Figure 6 It is a method flow chart for adjusting the hexahedron posture by using the hexahedron posture adjustment mechanism of the application;

[0030] LIST OF FIGURES:

[0031] 1. First motor; 2. Second motor; 3. Third motor; 4. First friction wheel; 5. Second friction wheel; 6. Third friction wheel; 7. Hexahedral storage platform; 8. Connecting plate one; 9. Connecting plate two. Detailed Implementation

[0032] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Example

[0033] like Figure 2 As shown, a hexahedral posture adjustment mechanism includes a control unit and an adjustment unit. The control unit controls the adjustment unit, which has a symmetrical structure and includes a first friction wheel 4, a first motor 1, a hexahedral storage platform 7, a connecting plate 1 8, and a connecting plate 2 9. The first friction wheel 4, the first motor 1, and the connecting plate 1 8 are arranged in sets of four, symmetrically installed in pairs on both sides of the hexahedron, with all four first friction wheels 4 placed on the same horizontal plane. The first friction wheels 4 can contact the hexahedron. The bottom end of the connecting plate 1 8 is detachably installed on the hexahedral storage platform 7, and the top end is detachably connected to and supports the first motor 1, which is installed on one side of the first friction wheel 4. The rotation direction of the first friction wheel 4 is controlled by the connecting plate 2 9, which connects the connecting plates 1 8 one by one until they form a hexahedral cavity with an open top with the hexahedral storage platform 7. All four first friction wheels 4 are located above the cavity. When all four first friction wheels 4 rotate outward / inward simultaneously relative to the sides in contact with the hexahedron, the hexahedron moves vertically. If the first friction wheels 4 on the same side of the hexahedron move in opposite directions, and the first friction wheels 4 diagonally opposite move in the same direction, the hexahedron rotates horizontally. When all four first friction wheels 4 move in the same direction, the hexahedron rotates vertically. The rotation of the hexahedron horizontally and vertically is achieved through the operation of the two pairs of friction wheels on both sides. The entire mechanism is simple to manufacture and has high efficiency in posture adjustment. Example

[0034] In addition to the first friction wheel 4 and the first motor 1, the hexagonal posture adjusting mechanism further comprises a second motor 2 and a second friction wheel 5, the number of the second friction wheel 5 is n, where n = 2x, x is an integer, and ≥ 1, that is, the number of the second friction wheel is used in pairs on the hexagonal posture adjusting mechanism, and is symmetrically arranged on the other two sides of the hexagon, closely adheres to the side of the hexagon, and is in the same horizontal plane, and is located below the first friction wheel 4, the second motor 2 is installed one by one with the second friction wheel 5, and is used for controlling the rotation of the second friction wheel 5 in the same direction. The second friction wheel 5 is arranged below the first friction wheel 4, in order to give positioning assistance when the first friction wheel 4 drives the hexagonal to overturn or move linearly up and down, prevent the hexagonal from moving incorrectly, and make the whole posture adjusting mechanism more stable, easy to operate, and high in operation success rate when adjusting the hexagonal, whether it is overturning or moving linearly up and down. Figure 2 In the figure, two pairs of first friction wheels 4 are shown adhering to two sides of the hexagonal, and two pairs of second friction wheels 5 are installed on the other two sides of the hexagonal. According to the needs, the first friction wheel 4 can also be installed one by one with the second friction wheel 5 on the same two sides of the hexagonal, but the stability is slightly worse than that shown in the figure. Figure 2 The user can choose according to the needs.

[0035] In addition, the second friction wheel 5 on the same side can also be installed coaxially with the second motor 2, so that two second friction wheels 5 can be driven in the same direction at the same time by using one second motor 2, reducing the cost while improving the operation efficiency of the second friction wheel 5, and then improving the efficiency of the hexagonal movement. Embodiment

[0036] In combination with Embodiment 1 and Embodiment 2, the hexagonal posture adjusting mechanism further comprises a third motor 3 and a third friction wheel 6, the number of the third friction wheel 6 is n, where n = 2x, x is an integer, and ≥ 1, two by two symmetrically arranged on the two sides of the hexagonal, and can contact the hexagonal, and are in the same horizontal plane, and are located below the second friction wheel 5, the third motor 3 is installed one by one with the third friction wheel 6, and is used for controlling the rotation of the third friction wheel 6 in the same direction. The third friction wheel is arranged below the second friction wheel, and assists each other with the second friction wheel to complete the linear movement of the hexagonal up and down, so that the whole adjusting mechanism is more stable and has high operation efficiency in the process of moving the hexagonal to move linearly up and down.

[0037] Similarly to Embodiment 2, the third friction wheel 6 on the same side can also be coaxially mounted with a third motor 3, so that two third friction wheels 6 can be driven to rotate in the same direction at the same time using one third motor 3, which reduces costs and improves the operating efficiency of the third friction wheel 6, thereby improving the efficiency of hexahedral motion.

[0038] In embodiments 1-3, the control unit includes a camera, a host computer, and a slave computer. The camera is installed directly above the adjustment unit and is communicatively connected to the host computer. The first motor 1, the second motor 2, and the third motor 3 are all communicatively connected to the slave computer and are used to drive the corresponding first friction wheel 4, second friction wheel 5, and third friction wheel 6 to rotate after receiving instructions from the slave computer, thereby driving the hexahedron to move vertically or flip horizontally.

[0039] Will Figure 1 The hexahedrons are placed into the hexahedron receiving cavity above the hexahedron storage platform 7, so that the first friction wheel 4 is in contact with the hexahedrons. The power is turned on, and the corresponding motors are controlled to run in the direction of the arrows shown in the figure. Figure 3 The present invention discloses a schematic diagram showing the rotation direction of the friction wheel when the hexahedron rotates around the X-axis. Figure 4 This is a schematic diagram showing the rotation direction of the friction wheel when the hexahedron rotates around the Y-axis according to the present invention. Figure 5 This diagram illustrates the rotation direction of the friction wheels when the hexahedron moves linearly along the Z-axis, as shown in the invention. The arrows indicate the rotation direction of the corresponding friction wheels. To rotate the hexahedron in the opposite direction, a reverse control operation is performed. This invention allows for the adjustment of any orientation of the six faces of the hexahedron.

[0040] This invention also discloses a method for adjusting the attitude of a hexahedron using the aforementioned hexahedron attitude adjustment mechanism, such as... Figure 6 As shown, the steps include:

[0041] S1: The camera captures a real-time image of the target hexahedron and transmits the real-time image to the host computer, then proceeds to S2;

[0042] S2: The host computer performs visual pose recognition on the real-time image to obtain the real-time pose of the target hexahedron, and then proceeds to S3;

[0043] S3: In the host computer, the next rotation direction of the target hexahedron is determined by combining the characteristics of the target hexahedron and the command is output to the lower computer. If the determination is OK, proceed to S5; otherwise, proceed to S4.

[0044] S4: The lower computer controls the first motor 1 or / and the second motor 2 or / and the third motor 3 to move according to the rotating direction instruction of the target hexahedron transmitted in S3, so as to realize the posture adjustment of the target hexahedron above the hexahedron storage platform 7, and return to S1;

[0045] S5: The posture of the target hexahedron is stored in the upper computer, and an instruction is output to the lower computer to stop the motor movement, and the adjustment is completed.

[0046] The visual posture recognition is realized by Gaussian denoising, binary processing, mask processing, edge recognition, polygon fitting, convex analysis, affine transformation and template matching to recognize the orientation of the target hexahedron, and the position of the target hexahedron relative to the posture adjustment mechanism is adjusted by PNP pose solution combined with the orientation information.

[0047] The upper computer and the lower computer communicate through a serial port, the upper computer is a computer, and the lower computer is a single-chip microcomputer, the first motor 1, the second motor 2 and the third motor 3 are controlled through the single-chip microcomputer, so as to control the rotating direction of the first friction wheel 4, the second friction wheel 5 and the third friction wheel 6.

[0048] The beneficial effects of the application are as follows:

[0049] 1. Three groups of friction wheels and corresponding motors for controlling the same are designed in the application, the control part is combined with the motor, so as to control the rotating direction of the friction wheels, and the posture automatic adjustment function of the hexahedron is realized without manual intervention.

[0050] 2. The visual posture recognition function is designed in the application, the real-time image is captured by using a camera, the control part such as the upper computer and the lower computer is combined, the control program is input, the posture and orientation of the hexahedron are obtained, and the posture adjustment direction of the hexahedron is controlled, so that the accuracy and success rate of adjustment are greatly improved.

[0051] 3. Three groups of friction wheels and corresponding control motors are designed in the application, the number of each group of friction wheels is four, the uppermost group is the first friction wheel 4, four combinations can realize the up-down linear motion and the overturning motion of the hexahedron, the middle group is the second friction wheel 5, four combinations can assist the first friction wheel 4, prevent the hexahedron from moving incorrectly during the movement, and make the whole posture adjustment mechanism work more stably and smoothly.

[0052] In summary, the attitude adjusting mechanism of the hexahedron of the present application acquires the attitude and orientation of the hexahedron by visual attitude recognition, outputs the direction of the rotation of the hexahedron through the control unit, and then controls the rotation of the motor friction wheel, so as to control the attitude adjustment of the target hexahedron. The adjustment of the arbitrary attitude of the six faces of the hexahedron can be automatically completed without manual intervention, has a very high success rate for the case of large attitude inclination, and has a fast detection speed, good real-time performance, and a wide application prospect.

[0053] It should be noted that the above content only illustrates the technical idea of the present application, and cannot limit the protection scope of the present application. For ordinary skilled persons in the technical field, a number of improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements fall within the protection scope of the claims of the present application.

Claims

1. A hexahedral attitude adjustment mechanism, characterized in that, The hexahedral posture adjustment mechanism includes a control unit and an adjustment unit. The control unit controls the adjustment unit. The adjustment unit has a symmetrical structure and includes a first friction wheel (4), a first motor (1), a hexahedral storage platform (7), a connecting plate one (8), and a connecting plate two (9). The first friction wheel (4), the first motor (1), and the connecting plate one (8) are set together, with a quantity of four sets. They are symmetrically installed on both sides of the hexahedron in pairs, and all four first friction wheels (4) are placed on the same horizontal plane. The first friction wheel (4) can contact the hexahedron. The bottom end of the connecting plate one (8) is detachably installed on the hexahedron storage platform (7), and the top end is detachably connected to and supports the first motor (1). The first motor (1) is installed on one side of the first friction wheel (4) and controls the rotation direction of the first friction wheel (4). The connecting plate two (9) connects the connecting plate one (8) one by one until it forms a hexahedron receiving cavity with the hexahedron storage platform (7) with an upper opening. The four first friction wheels (4) are all located above the receiving cavity. When the four first friction wheels (4) rotate outward / inward relative to the side of the hexahedron in contact with it at the same time, the hexahedron will move vertically. Among the four first friction wheels (4), the first friction wheel (4) located on the same side of the hexahedron moves in the opposite direction, and the first friction wheel (4) at opposite corners moves in the same direction, which will cause the hexahedron to rotate left and right. When the four first friction wheels (4) move in the same direction, the hexahedron will rotate up and down.

2. The hexahedral posture adjustment mechanism according to claim 1, characterized in that, The hexahedral attitude adjustment mechanism also includes a second motor (2) and a second friction wheel (5). The number of the second friction wheels (5) is n, where n=2x, x is an integer and ≥1. They are symmetrically placed on the other two sides of the hexahedron and can contact the hexahedron. They are on the same horizontal plane and located below the first friction wheel (4). The second motor (2) is installed in a one-to-one correspondence with the second friction wheel (5) to control the rotation of the second friction wheel (5) in the same direction.

3. The hexahedral posture adjustment mechanism according to claim 2, characterized in that, The hexahedral attitude adjustment mechanism also includes a third motor (3) and a third friction wheel (6). The number of the third friction wheels (6) is n, where n=2x, x is an integer and ≥1. They are symmetrically placed on both sides of the hexahedron and can contact the hexahedron. They are on the same horizontal plane and located below the second friction wheel (5). The third motor (3) is installed in a one-to-one correspondence with the third friction wheel (6) to control the rotation of the third friction wheel (6) in the same direction.

4. The hexahedral posture adjustment mechanism according to claim 1, characterized in that, The hexahedral posture adjustment mechanism also includes a second motor (2) and a second friction wheel (5). The number of the second friction wheels (5) is n, where n=2x, x is an integer and ≥1. They are symmetrically placed on the other two sides of the hexahedron and can contact the hexahedron. They are on the same horizontal plane and located below the first friction wheel (4). The second friction wheels (5) on the same side are all coaxially installed with a second motor (2), so that they can rotate in the same direction under the drive of the second motor (2).

5. The hexahedral posture adjustment mechanism according to claim 4, characterized in that, The hexahedral attitude adjustment mechanism also includes a third motor (3) and a third friction wheel (6). The number of the third friction wheels (6) is n, where n=2x, x is an integer and ≥1. They are symmetrically placed on both sides of the hexahedron and can contact the hexahedron. They are on the same horizontal plane and located below the second friction wheel (5). The third friction wheels (6) on the same side are all coaxially installed with the third motor (3), so that they can rotate in the same direction under the drive of the third motor (3).

6. A hexahedral posture adjustment mechanism according to any one of claims 1-5, characterized in that, The control unit includes a camera, a host computer, and a slave computer. The camera is installed directly above the adjustment unit and is communicatively connected to the host computer. The first motor (1), the second motor (2), and the third motor (3) are all communicatively connected to the slave computer and are used to drive the corresponding first friction wheel (4), second friction wheel (5), and third friction wheel (6) to rotate after receiving instructions from the slave computer, thereby driving the hexahedron to move vertically or flip horizontally.

7. A method for adjusting the attitude of a hexahedron using the hexahedron attitude adjustment mechanism according to any one of claims 1-6, characterized in that, The steps include: S1: The camera captures a real-time image of the target hexahedron and transmits the real-time image to the host computer, then proceeds to S2; S2: The host computer performs visual pose recognition on the real-time image to obtain the real-time pose of the target hexahedron, and then proceeds to S3; S3: In the host computer, the next rotation direction of the target hexahedron is determined by combining the characteristics of the target hexahedron and the command is output to the lower computer. If the determination is OK, proceed to S5; otherwise, proceed to S4. S4: The lower-level machine controls the first motor (1) or / and the second motor (2) or / and the third motor (3) to move according to the rotation direction command of the target hexahedron transmitted in S3, so as to realize the posture adjustment of the target hexahedron above the hexahedron storage platform (7) and return to S1; S5: The host computer outputs a command to the slave computer to stop the motor movement, and the adjustment is complete.

8. The method for adjusting the orientation of a hexahedron according to claim 7, characterized in that, The visual pose recognition is achieved by Gaussian denoising, binarization, masking, edge recognition, polygon fitting, convex analysis, affine transformation, and template matching to identify the orientation of the target hexahedron. The orientation information is then combined with PNP pose calculation to adjust the position of the target hexahedron relative to the pose adjustment mechanism.

9. A method for adjusting the orientation of a hexahedron according to claim 8, characterized in that, The host computer and the slave computer communicate via a serial port. The host computer is a computer and the slave computer is a microcontroller. The microcontroller controls the first motor (1), the second motor (2) and the third motor (3), thereby controlling the rotation direction of the first friction wheel (4), the second friction wheel (5) and the third friction wheel (6).

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