A design method of a fingertip surface pseudo-fingerprint structure and a hand claw finger applying the same

Abstract

The application discloses a design method of a fingertip surface fingerprint-imitating structure and a hand claw finger applying the same, relates to the field of robot technology, and the fruit picking robot hand claw finger of the fingertip surface fingerprint-imitating structure comprises a first finger segment, a second finger segment and a fingertip surface fingerprint-imitating structure.The design method of the fingertip surface fingerprint-imitating structure comprises the following steps: collecting a fingerprint image, obtaining an optimized image through optimization, identifying and extracting a fingerprint contour in the optimized image; based on the fingerprint contour, reconstruction is carried out with the aid of modeling software to obtain a planar fingerprint structure of a two-dimensional sketch; the planar fingerprint structure of the two-dimensional sketch is stretched to obtain a three-dimensional structure fingerprint surface structure, and the three-dimensional structure fingerprint surface structure is applied to a fingertip part of a finger.The fingertip surface fingerprint-imitating structure can improve the contact between a robot hand claw and a fruit and improve the picking success rate.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a design method for a fingerprint-like structure on the fingertip surface, and also to a finger of a fruit-picking robot with a fingerprint-like structure on the fingertip surface. Background Technology

[0002] With the changing times, the agricultural workforce is facing severe losses. Rapidly developing intelligent technologies offer feasible solutions for agricultural modernization and intelligentization, making the research and development of agricultural robots increasingly popular. Fruit-picking robots, as one of the most widely used agricultural robots, mainly consist of machine vision, robotic arms, actuators, and control systems. Among these, the development trend of the actuator's gripper is towards human-like and flexible designs. However, the success rate of existing fruit-picking robots still needs improvement. This is due to two main factors: firstly, the complex environment of orchards, with leaves and branches obstructing the fruit; and secondly, the actuator's robotic gripper is not flexible or gentle enough, making it difficult to avoid accidentally damaging the fruit during harvesting.

[0003] In existing related designs, conventional structures suffer from insufficient actuator flexibility. Examples include technical solutions 1 (invention title: an end effector for a spherical fruit-picking robot, application number 202220482100.2), 2 (invention title: an end effector for a melon and fruit-picking robot, application number 202010881159.4), and 3 (invention title: an end effector for a spherical fruit-picking robot, application number 201811270001.2). While an anthropomorphic gripper design can improve flexibility, the gripper's grasping ability still needs improvement. Examples include technical solutions 4 (invention title: an electromagnetically driven multi-fingered flexible mechanical gripper, application number 202220413708.X) and 5 (invention title: a rigid-flexible anthropomorphic five-fingered mechanical gripper, application number 202010491965.0).

[0004] Therefore, how to further improve the contact between the actuator gripper and the fruit is a key issue that new harvesting robots need to address. Summary of the Invention

[0005] The present invention aims to at least partially solve one of the aforementioned technical problems in the prior art. To this end, embodiments of the present invention provide a design method for a fingerprint-like structure on a fingertip surface, and also provide a finger of a fruit-picking robot hand with a fingerprint-like structure on its fingertip surface. The fingerprint-like structure on the fingertip surface improves the contact between the robot hand and the fruit, thereby increasing the success rate of picking.

[0006] According to an embodiment of the first aspect of the present invention, a method for designing a fingerprint-like structure on a fingertip surface is provided, comprising the following steps:

[0007] S1, acquire fingerprint images, optimize them to obtain optimized images, identify and extract fingerprint contours from the optimized images;

[0008] S2, Based on the fingerprint contour, the planar fingerprint structure of the two-dimensional sketch is reconstructed using modeling software;

[0009] S3, stretch the planar fingerprint structure of the two-dimensional sketch to obtain a three-dimensional fingerprint surface structure, which is then applied to the fingertip area.

[0010] According to an embodiment of the first aspect of the present invention, in step S1, the fingerprint image is optimized by using morphological optimization techniques to improve the image based on digital image processing technology, thereby obtaining an optimized image.

[0011] The above-mentioned design method for fingerprint-like structures on fingertip surfaces has at least the following beneficial effects: by acquiring fingerprint images and extracting fingerprint contours, the fingerprint surface structure is obtained through modeling. The entire design technical route is clear. Based on the structural reconstruction of real fingerprint images, a highly realistic fingerprint surface structure can be obtained, providing a more detailed technical reference for the design of anthropomorphic hands.

[0012] According to an embodiment of the first aspect of the present invention, in step S1, the morphological optimization technique is one or more of the following optimization techniques: binarization, noise reduction, erosion, and dilation.

[0013] According to a second aspect of the present invention, a finger of a fruit-picking robot with a fingerprint-like structure on its fingertip surface is provided, comprising a first finger segment and a second finger segment, which are hinged together by a rotary joint. The facing surfaces of the first and second finger segments are defined as the picking contact surfaces. A fingerprint-like structure on the fingertip surface is also provided, designed using the design method for a fingerprint-like structure on the fingertip surface described in the first aspect of the present invention. The fingerprint-like structure is disposed on the picking contact surface of the first finger segment to provide higher contact friction for the first finger segment. Further, the fingerprint-like structure on the fingertip surface is a flexible material component.

[0014] The aforementioned fingerprint-inspired fingertip structure of the fruit-picking robot's claw has at least the following beneficial effects: By applying the fingerprint-inspired structure to the picking contact surface of the second finger segment, and reconstructing the structure based on a real fingerprint image, a highly accurate fingerprint surface structure can be achieved, resulting in higher contact friction and improved gripping performance of the fruit-picking robot's claw, thereby increasing the picking success rate. Furthermore, the fingerprint-inspired structure uses flexible material components, which improves the flexible contact between the fruit-picking robot's claw and the fruit, reducing damage to the fruit and increasing the rate of damage-free picking. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0016] Figure 1 This is a front view of an embodiment of the present invention;

[0017] Figure 2 This is a perspective view of an embodiment of the present invention;

[0018] Figure 3 A schematic diagram of the structure of the fingerprint image in this embodiment of the invention;

[0019] Figure 4 This is a schematic diagram of the structure of the optimized image in an embodiment of the present invention;

[0020] Figure 5 This is a schematic diagram of the fingerprint outline in an embodiment of the present invention;

[0021] Figure 6 This is a schematic diagram of the planar fingerprint structure in an embodiment of the present invention;

[0022] Figure 7 This is a schematic diagram of the fingerprint surface structure in an embodiment of the present invention.

[0023] Reference numerals: , First finger segment 11, Second finger segment 12, Rotation joint 13, Fingerprint-like structure on fingertip surface 20, Fingerprint image 21, Optimized image 22, Fingerprint outline 23, Planar fingerprint structure 24, Fingerprint surface structure 25. Detailed Implementation

[0024] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0025] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0026] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0027] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0028] The following reference Figure 1 and Figure 2 The paper presents a finger of a fruit-picking robot with a fingerprint-like structure on the fingertip surface, including a first finger segment 11, a second finger segment 12, and a fingerprint-like structure 20 on the fingertip surface.

[0029] The first finger segment 11 and the second finger segment 12 are hinged together by a rotating joint 13. The facing surfaces of the first finger segment 11 and the second finger segment 12 are defined as the picking contact surfaces. When the fingertips of the fruit-picking robot, with their fingerprint-like surface structure, are applied to the actuator of the picking robot, the opening and closing of the first finger segment 11 and the second finger segment 12 are controlled, and their picking contact surfaces pick the fruit.

[0030] Specifically, the fingerprint-like structure 20 on the fingertip surface is disposed on the picking contact surface of the first finger segment 11 to provide higher contact friction for the first finger segment 11. Preferably, the fingerprint-like structure 20 on the fingertip surface is a flexible material component.

[0031] The following reference Figures 3 to 7 This embodiment also presents a design method for a fingerprint-like structure on a fingertip surface. The aforementioned fingerprint-like structure 20 on a fingertip surface is designed using this design method, including the following steps:

[0032] S1, Collect a person's fingerprint image 21, such as Figure 3 As shown.

[0033] The fingerprint image 21 is optimized, specifically by using morphological optimization techniques based on digital image processing technology to improve the image and obtain an optimized image 22, such as... Figure 4 As shown. Among them, morphological optimization techniques are one or more of the following optimization techniques: binarization, noise reduction, erosion, and dilation.

[0034] Then, the fingerprint contour 23 in the optimized image 22 is identified and extracted, such as Figure 5 As shown.

[0035] S2, based on the fingerprint contour 23, reconstruct the planar fingerprint structure 24 using modeling software to obtain a two-dimensional sketch, such as... Figure 6 As shown. The modeling software can be Solidworks or other modeling software.

[0036] S3, the planar fingerprint structure 24 of the two-dimensional sketch is stretched to obtain the three-dimensional fingerprint surface structure 25, such as... Figure 7 As shown, it is then applied to the fingertips, i.e., the first finger segment.

[0037] Understandably, by collecting fingerprint images and extracting fingerprint contours, and then obtaining the fingerprint surface structure through modeling, the entire design technology route is clear. The structural reconstruction based on real fingerprint images can bring a highly accurate fingerprint surface structure, providing a more detailed technical reference for the design of anthropomorphic hands.

[0038] In practice, the fingertips of the fruit-picking robot's claw are equipped with a fingerprint-like structure 20. This structure mimics the fingerprint of a human hand and is applied to the picking contact surface of the second finger segment. Based on the reconstruction of the structure from a real fingerprint image, it can produce a highly realistic fingerprint surface structure, resulting in higher contact friction and improved gripping performance of the fruit-picking robot's claw, thereby increasing the success rate of picking.

[0039] In addition, the fingerprint-like structure on the fingertip surface uses flexible material components, which can improve the flexible contact between the fingers of the fruit-picking robot and the fruit, reduce damage to the fruit, and increase the rate of harvesting without damage.

[0040] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A fingertip-surface fingerprint-like structure for a fruit-picking robot claw, characterized in that: include A first finger segment and a second finger segment are hinged together by a rotary joint, and the facing surfaces of the first and second finger segments are defined as the picking contact surfaces; and The fingerprint-like structure on the fingertip surface is disposed on the picking contact surface of the first finger segment to provide higher contact friction for the first finger segment. The fingerprint-like structure on the fingertip surface is a flexible material component. The fingerprint-like structure on the fingertip surface is designed using a fingerprint-like structure design method, including the following steps: S1, acquire fingerprint images, optimize them to obtain optimized images, identify and extract fingerprint contours from the optimized images; S2, Based on the fingerprint contour, the planar fingerprint structure of the two-dimensional sketch is reconstructed using modeling software; S3, stretch the planar fingerprint structure of the two-dimensional sketch to obtain a three-dimensional fingerprint surface structure, which is then applied to the fingertip area.

2. The finger of a fruit-picking robot with a fingerprint-like structure on the fingertip surface according to claim 1, characterized in that: In step S1, the fingerprint image is optimized by using morphological optimization techniques based on digital image processing technology to improve the image and obtain an optimized image.

3. The finger of a fruit-picking robot with a fingerprint-like structure on the fingertip surface according to claim 2, characterized in that: In step S1, the morphological optimization technique is one or more of the following optimization techniques: binarization, noise reduction, erosion, and dilation.

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