An automatic detection device for soil mechanical composition

Abstract

This invention discloses an automatic soil mechanical composition testing device, comprising a testing platform for supporting various actuators. The testing platform is divided into two working sections with a linear module on its surface as the central axis. A detection robotic arm is located on one side of the loading platform on the linear module, and an actuator robotic arm is located on the other side. A loading platform is positioned between the detection and actuator robotic arms, and is used to hold a hydrometer. The loading platform moves along the linear module with the actuator robotic arm. A measuring cylinder placement station is provided on the testing platform. The detection robotic arm is used to acquire images of the hydrometer inside the measuring cylinder. The actuator robotic arm is used to grasp and place a stirring rod and the hydrometer, and to perform anthropomorphic stirring actions. The signal input terminals of the detection robotic arm, actuator robotic arm, and linear module are connected to the signal output terminal of a control center. This invention achieves fully automated soil mechanical composition determination by employing the coordinated movement of the detection and actuator robotic arms.

Description

Technical Field

[0001] This invention relates to the field of robot automation operation technology, specifically to an automatic detection device for soil mechanical composition. Background Technology

[0002] Soil mechanical composition determination is a crucial technique for soil sample analysis. Currently, the main methods used for soil mechanical composition determination include the pipette method, the hydrometer method, and the laser method. The pipette method utilizes the settling properties of soil particles in still water to separate soil particles of different diameters into different sizes, collect, dry, weigh, and calculate the percentage content of each particle size. The hydrometer method uses a soil hydrometer to observe changes in the specific gravity of the soil suspension, then calculates the size and content of each particle size according to Stokes' law, plots a particle size distribution curve, obtains the particle content, and determines the soil texture. The pipette and hydrometer methods are still primarily performed manually, which is complex and has relatively poor reliability. While automated soil mechanical composition detection robots based on the laser method offer rapid measurement, they exhibit significant deviations and insufficient accuracy when measuring soil samples with high clay content (see the comparative study of laser particle size analyzer and pipette method for determining soil mechanical composition—taking chestnut soil with different degrees of degradation as an example).

[0003] Therefore, existing technologies are insufficient to meet the important requirements and indicators of the Third National Soil Census Project for simple operation, fast measurement, and high accuracy. There is an urgent need to develop new technological approaches to meet the needs of the Third National Soil Census Project. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the purpose of this invention is to provide an automatic soil mechanical composition detection device, which replaces manual actions such as target grasping, placement, stirring and detection by adopting the coordinated movement of detection robotic arm and execution robotic arm, so as to realize the fully automated soil mechanical composition determination.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] An automatic soil mechanical component testing device includes a testing platform for supporting various actuators. The testing platform is divided into two working sections along a central axis formed by a linear module on its surface. A testing robotic arm is located on one side of a loading platform on the linear module, and an actuator robotic arm is located on the other side of the loading platform. The testing and actuator robotic arms move along the linear module. A loading platform is positioned between the testing and actuator robotic arms to hold a hydrometer and a stirring rod, ensuring that the hydrometer and stirring rod have accurate relative positions and postures with respect to the actuator robotic arm. The loading platform moves along the linear module with the actuator robotic arm. A measuring cylinder placement station is provided on the testing platform for placing measuring cylinders.

[0007] The detection robotic arm is used to acquire images of the hydrometer inside the measuring cylinder and read the hydrometer scale; the execution robotic arm is used to grasp and place the stirring rod and the hydrometer, and to perform anthropomorphic stirring actions.

[0008] The signal input terminals of the detection robotic arm, the execution robotic arm, and the linear module are connected to the signal output terminals of the control center.

[0009] The detection robotic arm includes a detection robotic arm body, a gantry frame, a camera, and a reflector. The detection robotic arm is located on one side of the loading platform on the linear module.

[0010] The portal frame includes a top crossbeam and a vertical aluminum alloy component with a 45° bend. The center of the top crossbeam has a circular groove with the same diameter as the flange at the end of the robotic arm. The camera is symmetrically arranged on the top crossbeam of the portal frame, and the reflector is arranged on the inner side of the 45° bend at the bottom of the portal frame. When the hydrometer is placed in a vertical position inside the portal frame, the hydrometer scale reading can be reflected into the camera from two directions, ensuring that the hydrometer scale 7 can be accurately collected.

[0011] Furthermore, the camera acquires images of the hydrometer's scale and the liquid column. Histogram equalization is performed on the collected images to increase the dynamic range of pixel grayscale values, thereby enhancing the overall image contrast. Then, OTSU region threshold segmentation is performed, and the edge image obtained using the Canny operator removes background interference while maintaining a very clear scale image. This part references the existing published literature "Research on Digital Image Processing Technology in a Visual Inspection System for Mercury Thermometers." A neural network learning model is used to train the hydrometer scale reading, continuously adjusting model parameters, evaluating and optimizing the model. The trained model is then used to read the scale of new hydrometer images, and the read data is sent to a computer according to the graduated cylinder number to create a data archive for later processing and analysis.

[0012] The robotic arm includes a robotic arm body, a Dahuan servo gripper, and gripping fingers. The Dahuan servo gripper has a parallel two-finger structure with displacement sensing and grip force sensing functions to effectively ensure the stability of gripping the hydrometer. It is fixed to the flange hole at the end of the robotic arm body by bolts. The gripping fingers are connected to the inner side of the Dahuan servo gripper. The inner side of the gripping fingers has an arc-shaped groove structure that fits tightly with the cylindrical rubber sleeve at the top of the hydrometer and the stirring rod to prevent the gripped objects from falling.

[0013] The linear module includes a baffle, a sliding plate, a tank chain, a crossbeam, a servo motor, a coupling, and a photoelectric switch; the linear module is used to provide positional movement for the two robotic arms and the loading platform, thereby expanding the working range;

[0014] The baffle is made of rectangular sheet metal with a rectangular groove the size of the tank chain cross-section in the center of the top for limiting the tank chain. The slide is also made of rectangular sheet metal with four bolt holes on one side for mating with the robotic arm base and fixing holes on the other side for mating with the servo motor. It is fixed to the tank chain near the robotic arm base. The slide can move linearly with the tank chain. The crossbeam passes inside the linear module to support the linear movement of the slide. The servo motor is fixed to the coupling to accurately drive the slide. The photoelectric switch is arranged at the bottom of the crossbeam to determine the presence of an object by emitting and receiving light signals, thus realizing automated control of the slide.

[0015] The control center includes an alarm, a control panel, a display, and a control cabinet. The control cabinet contains an industrial computer and a PLC. The power cord of the industrial computer is connected to a power socket. The PLC and the industrial computer are connected via a serial port for data transmission and communication. The alarm, control panel, and display are connected to the PLC power supply for power, and then connected to the PLC via the PLC's I / O module for exchanging information with external devices.

[0016] The control center realizes system action planning, data storage, emergency stop alarm calculation and processing, and human-computer interaction.

[0017] The beneficial effects of this invention are:

[0018] First, the system can replace manual labor in completing automated soil mechanical composition tests. It is fast, requires minimal human intervention, is easy to operate, and has high testing efficiency.

[0019] Secondly, the visual closed-loop detection function can quickly respond to actual customer needs, optimizing the algorithm or expanding it. For changes in the hydrometer scale, machine learning training is used to train the system, feeding this data back to the centralized control system, and creating data archives based on the graduated cylinder number for easy later data analysis.

[0020] Third, it boasts multiple safety advantages, including the robotic arm's safety advantages, the servo gripper's safety advantages, and the loading platform's safety advantages. The servo gripper's safety advantages include displacement sensing and grip force sensing functions, effectively ensuring the stability of the gripper's hold on the hydrometer. Furthermore, the gripping fingers have a specially designed arc-shaped groove structure to prevent the gripped object from falling. The loading platform is designed with a hydrometer placement hole, with a rubber ring embedded inside the hole, ensuring positioning accuracy while preventing bumps and knocks during the gripping process. Attached image description:

[0021] Figure 1 This is a schematic diagram of the structure of an automatic soil mechanical composition detection device, which is a preferred embodiment of the present invention.

[0022] Figure 2This is a detailed schematic diagram of a preferred embodiment of the detection robotic arm provided by the present invention.

[0023] Figure 3 This is a detailed schematic diagram of the robotic arm of a preferred embodiment provided by the present invention.

[0024] Figure 4 This is a schematic diagram of a robotic arm and a loading platform moving on a linear module, which is a preferred embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the control center structure of a preferred embodiment provided by the present invention.

[0026] Among them, 1 is the detection robotic arm, 2 is the execution robotic arm, 3 is the loading platform, 4 is the detection platform, 5 is the linear module, 6 is the control center, 7 is the hydrometer, 8 is the stirring rod, 9 is the measuring cylinder, 101 is the detection robotic arm body, 102 is the portal frame, 103 is the camera, 104 is the reflector, 201 is the execution robotic arm body, 202 is the Dahuan servo gripper, 203 is the grasping finger, 501 is the baffle, 502 is the slide plate, 503 is the tank chain, 504 is the crossbeam, 505 is the servo motor, 506 is the coupling, 507 is the photoelectric switch, 601 is the alarm, 602 is the control panel, 603 is the display, and 604 is the control cabinet. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to the embodiments.

[0028] This embodiment provides an automatic soil mechanical composition detection device. By employing the coordinated movement of a detection robotic arm and an execution robotic arm, it replaces manual actions such as target grasping, placement, mixing, and detection, thereby achieving fully automated soil mechanical composition determination.

[0029] The following description further elaborates on this embodiment to demonstrate the overall and systematic implementation of the functions and control scheme of this application, so as to facilitate understanding and achievement of the objectives.

[0030] like Figure 1 As shown, the automatic soil mechanical testing equipment includes a testing robotic arm 1, an execution robotic arm 2, a loading platform 3, a testing platform 4, a linear module 5, a control center 6, a hydrometer 7, a stirring rod 8, and a measuring cylinder 9.

[0031] Furthermore, the detection robotic arm 1 is mainly responsible for acquiring images of the hydrometer 7 inside the measuring cylinder 9 and reading the hydrometer scale; the detection robotic arm 1 is located on one side of the loading platform 3 on the linear module 5 and can move along the linear module. Furthermore, the execution robotic arm 2 is mainly responsible for gripping and placing the stirring rod and the hydrometer, as well as performing anthropomorphic stirring actions; the execution robotic arm 2 is located on the other side of the loading platform 3 on the linear module 5 and can move along the linear module.

[0032] After the execution robotic arm 2 places a hydrometer 7 onto the measuring cylinder 9, the detection robotic arm 1 collects the readings of the hydrometer 7 on the measuring cylinder 9 at fixed time points according to actual needs. Furthermore, the loading platform 3 is mainly used to hold the hydrometer 7 and the stirring rod 8, ensuring that the hydrometer 7 and the stirring rod 8 have accurate relative positions and postures with respect to the execution robotic arm 2. The loading platform 3 is located between the detection robotic arm 1 and the execution robotic arm 2, moving along the linear module 5 with the execution robotic arm 2.

[0033] Furthermore, the testing platform 4 is mainly used to support various execution components. The testing platform 4 is designed with a measuring cylinder placement station to ensure accurate placement of the measuring cylinder. The testing platform 4 is divided into two working sections with the linear module 5 as the central axis. Each working section has 60 holes with the same diameter as the measuring cylinder. The two working sections can hold a total of 120 measuring cylinders to ensure saturated operation of the equipment every day.

[0034] Divided into two working zones, it can test more sample solutions in graduated cylinders 9. The more samples, the higher the working efficiency. It can hold any number of graduated cylinders 9 up to 120.

[0035] Furthermore, the linear module 5 is used to provide movement for the two robotic arms and the cargo platform, expanding the operating range.

[0036] Furthermore, the control center 6 mainly realizes the functions of system action planning, data storage, emergency stop alarm and other calculation processing and human-computer interaction.

[0037] like Figure 2 As shown, the detection robotic arm 1 includes a detection robotic arm body 101, a portal frame 102, a camera 103, and a reflector 104. The portal frame 102 includes a top crossbeam and a vertical aluminum alloy part with a 45° bend. A circular groove with the same diameter as the end flange of the detection robotic arm body 101 is opened in the center of the top crossbeam. Four bolt holes correspond one-to-one with the groove and are fixed by four bolts. The camera 103 is symmetrically arranged on the top crossbeam of the portal frame 102. The reflector 104 is arranged on the inner side of the 45° bend at the bottom of the portal frame 102. When the hydrometer 7 is placed inside the portal frame, the scale reading of the hydrometer 7 can be reflected into the camera 103 from two directions, ensuring that the scale of the hydrometer 7 can be accurately collected.

[0038] Furthermore, the camera 103 acquires scale images of the hydrometer, performs scaling, cropping, and noise reduction on the acquired images, uses a deep learning model to train the hydrometer scale reading, continuously adjusts the model parameters, evaluates and optimizes the model, uses the trained model to read the scale of new hydrometer images, and sends the read data to the computer according to the measuring cylinder number to create a data archive for later processing and analysis.

[0039] like Figure 3 As shown, the robotic arm 2 includes a robotic arm body 201, a Dahuan servo gripper 202, and a gripping finger 203. The Dahuan servo gripper 202 is fixed to the end holes of the robotic arm body 201 by four bolts. The gripping finger 203 is connected to the inner side of the Dahuan servo gripper 202 by screws. The inner side of the gripping finger 203 has a specially designed arc-shaped groove structure to prevent the gripped object from falling.

[0040] The robotic arm 2 picks up the stirring rod 8 from the loading platform 3 to stir the sample in the measuring cylinder 9. After stirring, the robotic arm 2 inserts the stirring rod into the loading platform 3. Then, the robotic arm 2 picks up the hydrometer 7 from the loading platform and puts it into the measuring cylinder 9.

[0041] The robotic arm uses the AUBO collaborative robot, which has high repeatability and high force sensing sensitivity. If the two arms collide accidentally during operation, the robotic arm can achieve power-off protection.

[0042] like Figure 1 and Figure 3 As shown, the robotic arm 2 can grab the stirring rod 8 from the loading platform 3 to stir the sample in the measuring cylinder 9. After stirring, the robotic arm inserts the stirring rod into the loading platform 3. Then, the robotic arm 2 grabs the hydrometer 7 from the loading platform and puts it into the measuring cylinder. The detection robotic arm 1 collects the scale of the hydrometer 7 at 30s, 60s, 2min, 4min, 8min, 15min, 30min, 1h, 2h, 4h, 8h, and 24h. The hydrometer 7, stirring rod 8, and measuring cylinder 9 are labeled one-to-one, and there is no cross-contamination.

[0043] like Figure 4 As shown, the linear module 5 includes a baffle 501, a slide plate 502, a tank track 503, a crossbeam 504, a servo motor 505, a coupling 506, and a photoelectric switch 507.

[0044] The baffle 501 is a rectangular sheet metal part with a rectangular groove the size of the tank chain cross-section in the center of the top for limiting the tank chain 503. The slide plate 502 is also a rectangular sheet metal part with four bolt holes on one side for mating with the robotic arm base and fixing holes on the other side for mating with the servo motor. It is fixed to the tank chain 503 near the robotic arm base. The slide plate 502 can move linearly with the tank chain 503. The crossbeam 504 passes inside the linear module 5 to support the linear movement of the slide plate 502. The servo motor 505 is fixed to the coupling 506 to precisely drive the slide plate 502. The photoelectric switch 507 is arranged at the bottom of the crossbeam 504 to determine the presence of an object by emitting and receiving light signals, thereby realizing automated control of the slide plate 502.

[0045] The host computer plans the servo motor 505 in the linear module 5, detects the movements of robotic arm 1 and executes the movements of robotic arm 2. The servo motor 505 drives the slide plate 502 to the designated position and stays for a fixed time. The detection of the movements of robotic arm 1 and the execution of the movements of robotic arm 2 are completed within this fixed time.

[0046] like Figure 5 As shown, the control center 6 includes an alarm 601, a control panel 602, a display 603, and a control cabinet 604.

[0047] The control cabinet 604 includes an industrial computer and a PLC. The power cord of the industrial computer is connected to a power socket. The PLC and the industrial computer are connected via a serial port for data transmission and communication. The alarm 601, control panel 602, and display 603 are connected to the PLC power supply to provide power. They are then connected to the PLC via the PLC's I / O module for exchanging information with the outside world.

[0048] The alarm 601 is bolted to the top of the control cabinet. If an error occurs during the operation of the automatic detection system, the alarm will sound. The control panel 602 and the display 603 are embedded in the upper part of the control cabinet 604 for easy manual operation. The control cabinet 604 contains essential hardware such as an industrial computer and a mouse and keyboard.

[0049] like Figure 1 and Figure 4 As shown, the detection robotic arm 1, the execution robotic arm 2, and the loading platform 3 are connected to the slide plate 502 by bolts, and the servo motor 505 drives them to move along the linear module.

[0050] This application overcomes the shortcomings in the determination of soil mechanical composition and improves the automation and reliability of the system, so as to provide a testing and verification means for the research and control of the automated determination of soil mechanical composition.

[0051] In this application, the high precision is evident from the vision camera 103. Using a high-resolution vision camera instead of manual recording of the scale effectively reduces human error and improves reliability, thus demonstrating the high precision of this automatic detection system. Furthermore, a data acquisition schedule for 60 graduated cylinders can be attached to demonstrate the system's "fast measurement and high precision" characteristics. This system can simultaneously complete data acquisition for 60 graduated cylinders at 30s, 60s, 2min, 4min, 8min, 15min, 30min, 1h, 2h, 4h, 8h, and 24h within 28.5 hours, far exceeding the efficiency of ordinary manual methods.

[0052] Working principle of the invention:

[0053] After completing the manual preparation work (preparing the test sample, placing the measuring cylinder 9 on the test platform 4, inserting the hydrometer 7 into the loading platform 3, and inserting the stirring rod 8 into the loading platform 3), power on the system, start the equipment, start the software, enter the number of measuring cylinders and the number of measuring cylinder 9, start the automatic test program, execute the robotic arm 2 to grab the stirring rod 8 from the loading platform 3, execute the robotic arm 2 to stir the 1# measuring cylinder sample, after 1 minute, the system starts timing T1, execute the robotic arm 2 to insert the stirring rod 8 into the loading platform 3, execute the robotic arm 2 to grab the 1# hydrometer from the loading platform 3, execute the robotic arm 2 to place the 1# hydrometer into the loading platform 4. #Inside the measuring cylinder, at T2 (T2-T1<10s), the detection robotic arm 1 collects data from the hydrometer scale at 30s, 60s, 2min, 4min, 8min, 15min, 30min, 1h, 2h, 4h, 8h, and 24h respectively. Repeat the above operation for the samples to be measured in cylinders #2 to #60. The robotic arm 2 performs the operation once every 5 minutes. Record the time point at which the stirring ends. The detection robotic arm 1 collects images / data according to the time and establishes a data archive according to the number of measuring cylinders #9. The data can be manually queried or copied. The automatic detection test of soil mechanical composition ends.

[0054] The following is a stirring / data acquisition schedule for 60 graduated cylinders. The stirring interval is 4 minutes and 35 seconds. Therefore, the detection time for each graduated cylinder is unique, and there are no detection conflicts. (For two locations with short detection intervals, the graduated cylinder with the earlier "detection time" will be detected first).

[0055]

Claims

1. An automatic soil mechanical composition detection device, characterized in that, The system includes a testing platform (4) for carrying various execution components. The testing platform (4) is divided into two working areas with a linear module (5) on its surface as the central axis. The testing robot arm (1) is located on one side of the loading platform (3) on the linear module (5), and the execution robot arm (2) is located on the other side of the loading platform (3) on the linear module (5). The testing robot arm (1) and the execution robot arm (2) move along the linear module (5). The loading platform (3) is set between the testing robot arm (1) and the execution robot arm (2). The loading platform (3) is used to hold the hydrometer (7) and the stirring rod (8) to ensure that the hydrometer (7) and the stirring rod (8) have an accurate grasping relative position and posture relative to the execution robot arm (2). The loading platform (3) moves along the linear module (5) with the execution robot arm (2). The testing platform (4) is provided with a measuring cylinder placement station for placing measuring cylinders (9). The detection robotic arm (1) is used to acquire images of the hydrometer (7) inside the measuring cylinder (9) and to read the scale of the hydrometer (7); the execution robotic arm (2) is used to grab and place the stirring rod (8) and the hydrometer (7), and to perform anthropomorphic stirring actions. The signal input terminals of the detection robotic arm (1), the execution robotic arm (2), and the linear module (5) are connected to the signal output terminals of the control center (6); The detection robotic arm (1) includes a detection robotic arm body (101), a gate frame (102), a camera (103), and a reflector (104). The portal frame (102) includes a top crossbeam and a vertical aluminum alloy part with a 45° bend. The center of the top crossbeam has a circular groove with the same diameter as the end flange of the detection robot arm body (101). The camera (103) is attached to the top crossbeam of the portal frame (102) and arranged symmetrically. The reflector (104) is arranged on the inner side of the 45° bend at the bottom of the portal frame (102). The execution robotic arm (2) includes an execution robotic arm body (201), a Dahuan servo gripper (202), and a grasping finger (203). The Dahuan servo gripper (202) is a parallel two-finger structure with displacement sensing and grip force sensing functions, which is used to effectively ensure the stability of gripping the hydrometer. It is fixed to the flange hole at the end of the execution robotic arm body (201) by bolts. The grasping finger (203) is connected to the inner side of the Dahuan servo gripper (202). The inner side of the grasping finger (203) has an arc-shaped groove structure, which is tightly fitted with the cylindrical rubber sleeve at the top of the hydrometer (7) and the stirring rod (8). The linear module (5) includes a baffle (501), a sliding plate (502), a tank chain (503), a crossbeam (504), a servo motor (505), a coupling (506), and a photoelectric switch (507); the linear module (5) is used to provide positional movement for the two robotic arms and the loading platform, thereby expanding the working range; The baffle (501) is made of rectangular sheet metal with a rectangular groove the size of the tank chain cross-section in the center of the top for limiting the tank chain (503). The slide plate (502) is made of rectangular sheet metal with four bolt holes on one side for cooperating with the robotic arm base and a fixing hole on the other side for cooperating with the servo motor. It is fixed to the tank chain (503) on the side close to the robotic arm base. The slide plate (502) can move linearly with the tank chain (503). The crossbeam (504) passes inside the linear module (5) to support the linear movement of the slide plate (502). The servo motor (505) is fixed to the coupling (506) to realize the servo drive of the slide plate (502). The photoelectric switch (507) is arranged at the bottom of the crossbeam (504) to determine the presence or absence of an object by emitting and receiving light signals, thereby realizing the automated control of the slide plate (502).

2. The automatic soil mechanical composition detection device according to claim 1, characterized in that, The camera (103) acquires images of the scale and liquid column of the hydrometer (7), performs histogram equalization on the collected images to increase the dynamic range of pixel gray values, then performs OTSU region threshold segmentation, uses the Canny operator to obtain edge images to remove background interference while keeping the scale images clear; uses a neural network learning model to train the hydrometer scale reading, continuously adjusts the model parameters, evaluates and optimizes the model, uses the trained model to read the scale of new hydrometer images, and sends the read data to the computer according to the graduated cylinder number to establish a data archive for later processing and analysis.

3. The automatic soil mechanical composition detection device according to claim 1, characterized in that, The control center (6) includes an alarm (601), a control panel (602), a display (603), and a control cabinet (604). The control cabinet (604) contains an industrial computer and a PLC. The power cord of the industrial computer is connected to a power socket. The PLC and the industrial computer are connected via a serial port for data transmission and communication. The alarm (601), control panel (602), and display (603) are connected to the PLC power supply for power supply. They are then connected to the PLC via the PLC's I / O module for exchanging information with the outside world.

4. The automatic soil mechanical composition detection device according to claim 1, characterized in that, The control center (6) realizes system action planning, data storage, emergency stop alarm calculation and processing, and human-computer interaction.

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