Bottled solution carrying device based on machine vision

Abstract

The invention belongs to the technical field of chemical production devices, and particularly relates to a bottled solution carrying device based on machine vision. The stand column is arranged on the vehicle body in a lifting mode, and a clamping assembly used for clamping a bottle body is installed on the stand column; the clamping assembly comprises a plurality of self-adaptive clamping parts, and the self-adaptive clamping parts can change in a self-adaptive mode according to the size of a bottle body. The self-adaptive clamping part comprises a mounting block which is fixedly connected with the upright post; the two arc-shaped bent arms are fixedly connected to the front side and the rear side of the mounting block respectively; the telescopic module is fixedly connected to the arc-shaped bent arms and located between the two arc-shaped bent arms; the mounting bracket is fixedly connected to the movable end of the telescopic module; the clamping pieces are sequentially arranged on the mounting bracket, and the clamping pieces and the mounting bracket are arranged in a sliding manner; and the locking mechanism is in transmission connection with the multiple clamping pieces, and the locking mechanism is used for fixing the positions of the multiple clamping pieces after the multiple clamping pieces change in a self-adaptive mode according to the size of the bottle body.

Description

Technical Field

[0001] The invention belongs to the technical field of chemical production devices, and in particular relates to a bottled solution conveying device based on machine vision. Background Art

[0002] In the chemical production process, large-scale bottled chemical solutions are needed, and during use, the solutions need to be transported over long distances. Since the bottled solutions are heavy, on the one hand, the traditional manual handling method has a large workload. On the other hand, due to the different sizes of bottled containers, mechanical handling equipment cannot adapt to bottled containers of different sizes when clamping bottled containers. Therefore, a bottled solution handling device based on machine vision is urgently needed to solve the problem. Summary of the invention

[0003] The purpose of the present invention is to provide a bottled solution transport device based on machine vision to solve the above problems.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A bottled solution handling device based on machine vision, comprising:

[0006] Vehicle body;

[0007] A column, which is escalably arranged on the vehicle body, and a clamping assembly for clamping a bottle body is installed on the column;

[0008] The clamping assembly includes a plurality of adaptive clamping parts, and the adaptive clamping parts can adaptively change according to the size of the bottle body;

[0009] The adaptive clamping portion comprises:

[0010] A mounting block, fixedly connected to the column;

[0011] Two arc-shaped bent arms are respectively fixed to the front and rear sides of the mounting block;

[0012] A telescopic module, fixedly connected to the arc-shaped curved arms and located between the two arc-shaped curved arms;

[0013] A mounting bracket fixedly connected to the movable end of the telescopic module;

[0014] A plurality of clamping members are arranged in sequence on the mounting bracket, and the clamping members and the mounting bracket are slidably arranged;

[0015] The locking mechanism is transmission-connected with the plurality of clamping members, and the locking mechanism is used to fix the position of each of the clamping members after the plurality of clamping members adaptively change according to the size of the bottle body.

[0016] Optionally, the telescopic module includes a telescopic rod, a fixed end of the telescopic rod is fixedly connected to the arc-shaped bent arm, and a movable end of the telescopic rod is fixedly connected to the mounting bracket.

[0017] Optionally, the mounting bracket includes a first cross bar fixed to the movable end of the telescopic rod and a second cross bar fixed to the first cross bar, and a gap is provided between the second cross bar and the first cross bar;

[0018] The clamping member is slidably disposed in the second cross bar.

[0019] Optionally, the clamping member includes:

[0020] A sliding shell is slidably connected to the second cross bar, and a gap is provided between the sliding shells of two adjacent clamping members;

[0021] A second spring is coaxially sleeved outside the sliding housing, one end of the second spring is fixedly connected to the sliding housing, and the other end of the second spring is fixedly connected to the side wall of the second crossbar;

[0022] An inner sliding rod is slidably disposed in the sliding housing, one end of the inner sliding rod is fixedly connected to a sealing plate and is located in the sliding housing, and the sealing plate and the inner wall of the sliding housing are surrounded to form a piston cavity;

[0023] A first spring, coaxially sleeved on the outer side of the inner sliding rod, one end of the first spring is fixedly connected to the sealing plate, and the other end of the first spring is fixedly connected to the inner wall of the sliding housing;

[0024] An arc-shaped clamping groove, fixedly connected to the other end of the inner sliding rod and located outside the sliding housing;

[0025] A clamping rubber fixedly connected to an end of the arc-shaped clamping groove away from the inner sliding rod;

[0026] The inner sliding rod and the sliding outer shell are both transmission-connected with the locking mechanism.

[0027] Optionally, the locking mechanism includes a first locking structure and a second locking structure, wherein the first locking structure is arranged in the second cross bar and is used to fix a plurality of the sliding housings;

[0028] The second locking structure is arranged on one side of the plurality of piston chambers and is used to fix the plurality of inner sliding rods.

[0029] Optionally, the first locking structure includes:

[0030] An air chamber is provided in the second cross bar, and the air chamber is arranged between two adjacent sliding housings;

[0031] Two rubber membranes are fixedly connected to the two sides of the air chamber, one side of the rubber membrane is arranged in frictional contact with the corresponding sliding shell, and the other side of the rubber membrane is arranged in the air chamber, and the rubber membrane is deformed and squeezed against the corresponding side wall of the sliding shell after the air chamber is inflated;

[0032] A second air supply pipeline is arranged in the second cross bar, and the second air supply pipeline is connected to the bottom of the plurality of air chambers;

[0033] The second air supply component is communicated with the middle portion of the second air supply pipeline.

[0034] Optionally, the second air supply assembly includes:

[0035] A connecting block is fixedly connected to the middle portion of the second cross bar, and one end of the connecting block is connected to the middle portion of the second air supply pipeline;

[0036] The second solenoid valve and the barometer are connected and arranged at the other end of the connecting block. The second solenoid valve and the barometer are connected to an air pump, and the air pump is fixed to the vehicle body.

[0037] Optionally, the second locking structure includes:

[0038] One end of the first air supply pipeline is connected to the plurality of piston chambers, and the other end of the first air supply pipeline is connected to a first solenoid valve and a barometer, and the first solenoid valve and the barometer are connected to the air pump.

[0039] Optionally, the vehicle body comprises:

[0040] A body, one side of the body is provided with an arc-shaped opening for the bottle to enter, and the position of the arc-shaped opening matches the clamping assembly; the column is fixedly connected to the body;

[0041] A lifting rod, a fixed end of which is fixedly connected to the vehicle body, and a movable end of which is fixed to the column via a connecting block;

[0042] A control power supply component bracket is fixedly connected to the bottom of the vehicle body, and a controller and a power supply are fixedly connected in the control power supply component bracket;

[0043] A rear-view camera, fixedly connected to the top of the pillar;

[0044] A front-view camera, fixedly connected to the front end of the vehicle body in the direction of travel;

[0045] A moving part, arranged at the bottom of the vehicle body;

[0046] The controller and the power supply are electrically connected to the moving part, the air pump, the lifting rod, the telescopic rod, the first electromagnetic valve and the barometer, and the second electromagnetic valve and the barometer.

[0047] Optionally, the moving part includes:

[0048] Two driving wheels are symmetrically arranged at the front end of the vehicle body in the direction of travel, the driving wheels are rotatably connected to the vehicle body, the driving wheel shaft is connected to the output shaft of the driving motor, and the fixed end of the driving motor is fixedly connected to the vehicle body;

[0049] Two universal wheels are symmetrically arranged at the rear end of the vehicle body in the direction of travel, and the universal wheels are universally connected to the vehicle body.

[0050] Compared with the prior art, the present invention has the following advantages and technical effects:

[0051] When in use, the vehicle body is moved to make the clamping assembly approach the bottle body to be clamped. After the adaptive clamping part is sleeved on the outside of the bottle body, the mounting bracket is moved by the telescopic module so that a plurality of clamping members on each mounting bracket are in contact with the outside of the bottle body. After the clamping members are in contact with the outside of the bottle body, as the mounting bracket continues to move, the clamping members slide on the mounting bracket until a plurality of clamping members wrap the bottle body. The position of each clamping member is fixed by a locking mechanism. The distribution of each clamping member matches the contour of the bottle body. As a plurality of clamping members are locked, the telescopic module continues to move the mounting bracket to generate a clamping force. Subsequently, the column rises to lift the bottle body, and then the vehicle body is moved to the specified position.

[0052] Through the setting of the adaptive clamping part, it can be suitable for bottles of different sizes. By fitting the contour of the bottle with each clamping part, it can be suitable for bottles of various shapes. With the locking mechanism and telescopic module, the device can stably clamp the bottle. With the visual recognition function, intelligent and efficient transportation can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0054] Figure 1 This is a front view of the structure of the present invention;

[0055] Figure 2 A top view of the vehicle body structure of the present invention;

[0056] Figure 3 A top view of the structure of the adaptive clamping portion of the present invention;

[0057] Figure 4 For the present invention Figure 3 A partial enlarged view of the middle part;

[0058] Figure 5 For the present invention Figure 4 A partial enlarged view of point B in the middle;

[0059] Figure 6 It is a front cross-sectional view of the second crossbar of the present invention;

[0060] Among them, 1, body; 2, column; 3, adaptive clamping part; 4, rear view camera; 5, connecting block; 6, lifting rod; 7, air pump; 8, front view camera; 9, driving wheel; 10, driving motor; 11, universal wheel; 12, control power supply component bracket; 13, controller and power supply; 14, arc opening; 301, arc bending arm; 302, telescopic rod; 303, mounting block; 304, first cross bar; 305, second Cross bar; 306, air chamber; 307, rubber membrane; 308, first air supply pipeline; 309, first solenoid valve and barometer; 310, sliding shell; 311, inner sliding rod; 312, arc clamping groove; 313, clamping rubber; 314, first spring; 315, second spring; 316, sealing plate; 317, piston chamber; 318, second air supply pipeline; 319, connecting block; 320, second solenoid valve and barometer. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0063] Reference Figures 1 to 6 The present invention discloses a bottled solution handling device based on machine vision, comprising:

[0064] Vehicle body;

[0065] A column 2 is movably mounted on the vehicle body, and a clamping assembly for clamping the bottle body is mounted on the column 2;

[0066] The clamping assembly includes a plurality of adaptive clamping parts 3, which can adaptively change according to the size of the bottle;

[0067] The adaptive clamping part 3 comprises:

[0068] The mounting block 303 is fixedly connected to the column 2;

[0069] Two arc-shaped arms 301 are fixedly connected to the front and rear sides of the mounting block 303 respectively;

[0070] The telescopic module is fixedly connected to the arc-shaped curved arms 301 and is located between the two arc-shaped curved arms 301;

[0071] A mounting bracket is fixedly connected to the movable end of the telescopic module;

[0072] A plurality of clamping members are arranged in sequence on the mounting bracket, and the clamping members and the mounting bracket are slidably arranged;

[0073] The locking mechanism is drivingly connected with the plurality of clamping members, and is used to fix the positions of the plurality of clamping members after the plurality of clamping members adaptively change according to the size of the bottle body.

[0074] When in use, the vehicle body is moved to make the clamping assembly approach the bottle body to be clamped. After the adaptive clamping part 3 is sleeved on the outside of the bottle body, the mounting bracket is moved by the telescopic module so that a plurality of clamping members on each mounting bracket are in contact with the outside of the bottle body. After the clamping members are in contact with the outside of the bottle body, as the mounting bracket continues to move, the clamping members slide on the mounting bracket until the plurality of clamping members wrap the bottle body. The positions of the clamping members are fixed by the locking mechanism. The distribution of the clamping members matches the contour of the bottle body. As the plurality of clamping members are locked, the telescopic module continues to move the mounting bracket to generate a clamping force. Subsequently, the column 2 rises to lift the bottle body, and then the vehicle body is moved to the specified position.

[0075] As an optional implementation, the telescopic module includes a telescopic rod 302 , a fixed end of the telescopic rod 302 is fixedly connected to the arc-shaped arm 301 , and a movable end of the telescopic rod 302 is fixedly connected to the mounting bracket.

[0076] As an optional embodiment, the mounting bracket includes a first crossbar 304 fixed to the movable end of the telescopic rod 302 and a second crossbar 305 fixed to the first crossbar 304, and a gap is provided between the second crossbar 305 and the first crossbar 304;

[0077] The clamping member is slidably disposed in the second cross bar 305 .

[0078] As an optional embodiment, the clamping member includes:

[0079] The sliding housing 310 is slidably connected to the second crossbar 305, and a gap is provided between the sliding housings 310 of two adjacent clamping members;

[0080] A second spring 315 is coaxially sleeved outside the sliding housing 310, one end of the second spring 315 is fixedly connected to the sliding housing 310, and the other end of the second spring 315 is fixedly connected to the side wall of the second cross bar 305;

[0081] An inner slide bar 311 is slidably disposed in the sliding housing 310. One end of the inner slide bar 311 is fixedly connected to a sealing plate 316 and is located in the sliding housing 310. The sealing plate 316 and the inner wall of the sliding housing 310 together form a piston chamber 317.

[0082] A first spring 314 is coaxially sleeved on the outer side of the inner slide rod 311, one end of the first spring 314 is fixedly connected to the sealing plate 316, and the other end of the first spring 314 is fixedly connected to the inner wall of the sliding housing 310;

[0083] The arc-shaped clamping groove 312 is fixed to the other end of the inner sliding rod 311 and is located outside the sliding housing 310;

[0084] The clamping rubber 313 is fixed to the end of the arc-shaped clamping groove 312 away from the inner sliding rod 311;

[0085] The inner sliding rod 311 and the sliding outer shell 310 are both transmission-connected to the locking mechanism.

[0086] When in use, the clamping rubber 313 contacts the bottle body. Since the surface of the bottle body is arc-shaped, the arc-shaped clamping groove 312 is set to an arc shape to better fit the contour of the bottle body. The clamping rubber 313 is elastic. On the one hand, it can change according to the contour of the bottle body, and on the other hand, it can increase the friction with the surface of the bottle body. After the clamping rubber 313 contacts the bottle body, as the second cross bar 305 continues to move, first the sealing plate 316 slides in the piston cavity 317 and stretches the first spring 314. At the same time, the sliding shell 310 can also slide relative to the second cross bar 305 to stretch the second spring 315. Through this arrangement, the moving stroke of the arc-shaped clamping groove 312 can be increased to adapt to bottles of more sizes. The gas in the piston cavity 317 is discharged, and after each arc-shaped clamping groove 312 is moved into place, it can be locked by the locking mechanism.

[0087] After use, as the clamping force with the bottle body surface decreases, the locking mechanism is unlocked, and the sliding housing 310 and the arc-shaped clamping groove 312 can be reset by the first spring 314 and the second spring 315 .

[0088] As an optional embodiment, the locking mechanism includes a first locking structure and a second locking structure, wherein the first locking structure is disposed in the second cross bar 305 and is used to fix a plurality of sliding housings 310;

[0089] The second locking structure is disposed on one side of the plurality of piston chambers 317 and is used to fix the plurality of inner sliding rods 311 .

[0090] As an optional implementation, the first locking structure includes:

[0091] An air chamber 306 is provided in the second cross bar 305 , and the air chamber 306 is provided between two adjacent sliding housings 310 ;

[0092] Two rubber membranes 307 are fixedly connected to the two sides of the air chamber 306, one side of the rubber membrane 307 is arranged in frictional contact with the corresponding sliding shell 310, and the other side of the rubber membrane 307 is arranged in the air chamber 306. When the air chamber 306 is inflated, the rubber membrane 307 is deformed and squeezes the corresponding side wall of the sliding shell 310;

[0093] A second air supply pipeline 318 is disposed in the second cross bar 305, and the second air supply pipeline 318 is connected to the bottom of the plurality of air chambers 306;

[0094] The second air supply assembly is connected to the middle portion of the second air supply pipeline 318 .

[0095] As an optional embodiment, the second air supply assembly includes:

[0096] A connecting block 319 is fixedly connected to the middle of the second cross bar 305, and one end of the connecting block 319 is connected to the middle of the second air supply pipeline 318;

[0097] The second solenoid valve and the barometer 320 are connected to the other end of the connecting block 319. The second solenoid valve and the barometer 320 are connected to the air pump 7, and the air pump 7 is fixed to the vehicle body.

[0098] As an optional implementation, the second locking structure includes:

[0099] One end of the first air supply pipeline 308 is connected to the plurality of piston chambers 317 , and the other end of the first air supply pipeline 308 is connected to the first solenoid valve and the barometer 309 , and the first solenoid valve and the barometer 309 are connected to the air pump 7 .

[0100] During use, initially, the first solenoid valve and barometer 309 and the second solenoid valve and barometer 320 are all in a connected state. At this time, the gas in the piston chamber 317 can be discharged through the first air supply pipeline 308. When locking is required, the air pump 7 supplies air to the first air supply pipeline 308 and the second air supply pipeline 318 at the same time, and the gas enters the piston chamber 317 and the air chamber 306.

[0101] The gas entering the piston chamber 317 pushes the sealing plate 316 to move the inner slide rod 311. The air pressure is balanced with the reaction force fed back by the bottle body, and the clamping force is increased by increasing the air pressure. After the first solenoid valve and the pressure gauge 309 are closed, the piston chamber 317 can maintain a specified air pressure.

[0102] The gas entering the air chamber 306 pushes the rubber membrane 307 to deform and squeeze the side wall of the sliding housing 310. Under the action of friction, the sliding housing 310 is fixed to the second crossbar 305. The second solenoid valve and the barometer 320 are opened to allow the air pump 7 to pump air into each air chamber 306 through the second air supply pipeline 318. After the second solenoid valve and the barometer 320 are closed, the air pressure in the air chamber 306 can be maintained at a specified pressure.

[0103] As an optional embodiment, the vehicle body includes:

[0104] The body 1 has an arc-shaped opening 14 on one side for the bottle to enter, and the position of the arc-shaped opening 14 matches the clamping assembly; the column 2 is fixedly connected to the body 1;

[0105] A lifting rod 6, the fixed end of which is fixedly connected to the vehicle body 1, and the movable end of which is fixed to the column 2 via a connecting block 5;

[0106] A control power supply component bracket 12 is fixedly connected to the bottom of the vehicle body 1, and a controller and a power supply 13 are fixedly connected in the control power supply component bracket 12;

[0107] A rear-view camera 4 is fixedly connected to the top of the column 2;

[0108] A front-view camera 8 is fixedly connected to the front end of the vehicle body 1 in the traveling direction;

[0109] A moving part, arranged at the bottom of the vehicle body 1;

[0110] The controller and power supply 13 are electrically connected to the moving part, the air pump 7 , the lifting rod 6 , the telescopic rod 302 , the first solenoid valve and the barometer 309 , and the second solenoid valve and the barometer 320 .

[0111] The operation of the device can be programmed and powered by the controller and power supply 13. The device is equipped with a rear-view camera 4 and a front-view camera 8, and a visual recognition program is set in the controller to realize the functions of moving the device, grabbing the bottle, and releasing the bottle.

[0112] As an optional implementation, the moving part includes:

[0113] Two driving wheels 9 are symmetrically arranged at the front end of the vehicle body 1 in the direction of travel. The driving wheels 9 are rotatably connected to the vehicle body 1. The driving wheels 9 are connected to the output shaft of the driving motor 10. The fixed end of the driving motor 10 is fixed to the vehicle body 1.

[0114] Two universal wheels 11 are symmetrically arranged at the rear end of the vehicle body 1 in the direction of travel, and the universal wheels 11 are universally connected to the vehicle body 1 .

[0115] The two driving wheels 9 are driven to rotate by driving motors 10 respectively. By controlling the speed and direction of the driving motors 10 respectively, functions such as forward movement, backward movement, and steering of the vehicle body can be realized.

[0116] Visual recognition algorithm is an existing technology. Visual recognition algorithm is the core technology in the field of computer vision. It is mainly used to simulate the human visual system and realize the classification and positioning of objects through feature extraction, matching and recognition in images or videos.

[0117] The main steps of the visual recognition algorithm include:

[0118] Image preprocessing: denoising, enhancing, scaling, and other operations are performed on the image to better extract features.

[0119] Feature extraction: Extract meaningful features from the preprocessed image, such as edge detection, corner detection, texture description, etc.

[0120] Feature matching: Match the extracted features with known templates or feature databases to determine whether the target object exists in the image.

[0121] Classification and recognition: Classify and recognize images based on the matching results. Machine learning, deep learning and other methods can be used to train and predict classification models.

[0122] Common visual recognition algorithms and their applications:

[0123] Edge detection algorithms: such as the Sobel operator and the Canny operator, are used to detect the contours of objects in images.

[0124] Object detection algorithms: such as Haar feature detection, HOG feature detection, deep learning-based convolutional neural network (CNN), etc., are used to accurately locate and identify specific objects.

[0125] Object recognition algorithms: such as SIFT feature matching, SURF feature matching, and convolutional neural networks based on deep learning, are used to determine which category an object belongs to.

[0126] Image segmentation algorithms: such as threshold-based segmentation, region-based segmentation, graph-cut-based segmentation, etc., are used to divide an image into multiple regions.

[0127] Face recognition algorithms: such as Viola-Jones algorithm, DeepFace, FaceNet, etc., deep learning-based methods are widely used in face recognition.

[0128] Visual recognition algorithms are widely used in many fields, including:

[0129] Face recognition: used in security monitoring, human-computer interaction, social networks, etc.

[0130] Image search: widely used in e-commerce platforms, social media and other fields.

[0131] Autonomous driving: used for vehicle navigation, obstacle detection, etc.

[0132] Medical image analysis: used for disease diagnosis, lesion detection, etc.

[0133] Intelligent transportation: used for traffic monitoring, vehicle identification, etc.

[0134] Furthermore, the device is equipped with a panoramic vision system based on the catadioptric principle, which is applied to the vehicle's autonomous navigation. With the catadioptric panoramic vision system as the core, a navigation path recognition algorithm and a navigation control algorithm are studied and designed on the existing hardware platform.

[0135] The method includes the following steps: the first step is to analyze the characteristics of various machine vision systems, and on this basis, summarize the advantages of panoramic vision systems over traditional machine vision systems. According to the advantages and disadvantages of various methods, a panoramic vision system based on the refraction-reflection principle is selected as the navigation sensor of the robot. The system has low cost and fast imaging speed, and is very suitable for occasions with high real-time requirements; the panoramic vision system based on the refraction-reflection principle uses a convex reflector with a certain surface shape to reflect the information of the robot's surrounding environment into the camera for imaging, and obtains environmental images within the horizontal 360° and a certain angle vertical field of view; due to the compression of the scene environment information by the convex reflector, the object has radial deformation in the camera imaging plane, which causes imaging deformation of some regular objects in the actual scene; according to the imaging characteristics of the panoramic vision system based on the refraction-reflection principle, several commonly used calibration methods of panoramic vision systems are compared, and the calibration of the panoramic vision system parallel to the camera plane is carried out by experimental method. The distance and angle of the scene image in a certain actual plane are calibrated to obtain the corresponding relationship between the object and the image point; this method does not need to know the internal and external parameters of the camera and the parameter equations of the reflective mirror, has low requirements for system installation, and is easy to calibrate; the second step is to design an image acquisition and processing algorithm for the crop row environment of the panoramic vision system based on the principle of refraction and reflection. a. Use Directshow technology to acquire camera images; according to the characteristics of the working environment, pre-process the acquired images, use the gray world hypothesis algorithm, white balance algorithm and diagonal correction model to perform color correction on the acquired color cast images, and approximately restore the essential color of the object; b. On this basis, use the normalized over-green feature value 2xg-rb to grayscale the image, and then use the maximum inter-class variance method to obtain a binary image of the working environment; c. Use median filtering to remove the impulse noise points in the image, and obtain a more ideal binary image of the surrounding environment; d.According to the characteristics of panoramic system imaging, the calibration results are used to transform the distance and angle of the target pixels to restore the spatial straight line characteristics, which is convenient for extracting the navigation path line; the third step is to use Hough transform to identify the navigation reference path, and calculate the navigation control parameters in combination with the digital compass heading angle information; on the basis of image acquisition and processing, combined with the characteristics of the catadioptric panoramic vision system imaging, the direction information of the navigation reference path line is obtained by using Hough transform, and the straight line closest to the center point and the closest distance to the imaging center is selected as the navigation reference path line; combined with the initial angle information of the digital compass, the navigation control parameters are calculated; the fourth step is to design a navigation controller based on the fuzzy control method and conduct experimental verification; analyze the navigation control methods commonly used in navigation, and compare and study various methods characteristics; according to the characteristics of the working environment, fuzzy control does not need to establish an accurate mathematical model of the controlled object, and is similar to the way of thinking of people. Therefore, fuzzy control is used as the navigation control method of this design; the design process of the fuzzy controller is analyzed in detail, and a two-dimensional fuzzy controller based on two-wheel differential control is designed. The input is the navigation control parameter, and the output is the rotation speed of the left and right wheels of the vehicle body. MATLAB is used for design and experimental verification. The results show that the fuzzy controller can accurately track the navigation path line; the fifth step is to conduct a simulated navigation control test in an indoor environment without fixed light source illumination; the overall device is debugged, and a navigation control test is conducted in an indoor environment without fixed light source illumination. The results show that the system can accurately identify the navigation path line and can stably track the identified navigation path line. .

[0136] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0137] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A bottled solution handling device based on machine vision, characterized in that: include: Vehicle body; A column (2) is movably arranged on the vehicle body, and a clamping assembly for clamping a bottle body is installed on the column (2); The clamping assembly comprises a plurality of adaptive clamping parts (3), and the adaptive clamping parts (3) can adaptively change according to the size of the bottle body; The adaptive clamping portion (3) comprises: A mounting block (303) fixedly connected to the column (2); Two arc-shaped bent arms (301) are respectively fixed to the front and rear sides of the mounting block (303); A telescopic module, fixedly connected to the arc-shaped curved arms (301) and located between the two arc-shaped curved arms (301); A mounting bracket fixedly connected to the movable end of the telescopic module; A plurality of clamping members are arranged in sequence on the mounting bracket, and the clamping members and the mounting bracket are slidably arranged; The locking mechanism is transmission-connected with the plurality of clamping members, and the locking mechanism is used to fix the position of each of the clamping members after the plurality of clamping members adaptively change according to the size of the bottle body.

2. The bottled solution handling device based on machine vision according to claim 1, characterized in that: The telescopic module comprises a telescopic rod (302), the fixed end of the telescopic rod (302) is fixedly connected to the arc-shaped bent arm (301), and the movable end of the telescopic rod (302) is fixedly connected to the mounting bracket.

3. The bottled solution handling device based on machine vision according to claim 2, characterized in that: The mounting bracket comprises a first cross bar (304) fixed to the movable end of the telescopic rod (302) and a second cross bar (305) fixed to the first cross bar (304), wherein a gap is provided between the second cross bar (305) and the first cross bar (304); The clamping member is slidably arranged in the second cross bar (305).

4. The bottled solution handling device based on machine vision according to claim 3, characterized in that: The clamping member comprises: A sliding shell (310) is slidably connected to the second crossbar (305), and a gap is provided between the sliding shells (310) of two adjacent clamping members; A second spring (315) is coaxially sleeved outside the sliding housing (310), one end of the second spring (315) is fixedly connected to the sliding housing (310), and the other end of the second spring (315) is fixedly connected to the side wall of the second cross bar (305); An inner sliding rod (311) is slidably disposed in the sliding housing (310), one end of the inner sliding rod (311) is fixedly connected to a sealing plate (316) and is located in the sliding housing (310), and the sealing plate (316) and the inner wall of the sliding housing (310) are surrounded to form a piston chamber (317); A first spring (314) is coaxially sleeved on the outer side of the inner sliding rod (311), one end of the first spring (314) is fixedly connected to the sealing plate (316), and the other end of the first spring (314) is fixedly connected to the inner wall of the sliding housing (310); An arc-shaped clamping groove (312) is fixedly connected to the other end of the inner sliding rod (311) and is located outside the sliding housing (310); A clamping rubber (313) fixedly connected to an end of the arc-shaped clamping groove (312) away from the inner sliding rod (311); The inner sliding rod (311) and the sliding outer shell (310) are both in transmission connection with the locking mechanism.

5. The bottled solution handling device based on machine vision according to claim 4, characterized in that: The locking mechanism comprises a first locking structure and a second locking structure, wherein the first locking structure is arranged in the second cross bar (305) and is used to fix a plurality of the sliding housings (310); The second locking structure is arranged on one side of the plurality of piston chambers (317) and is used to fix the plurality of inner sliding rods (311).

6. The bottled solution handling device based on machine vision according to claim 5, characterized in that: The first locking structure comprises: An air chamber (306) is provided in the second cross bar (305), and the air chamber (306) is provided between two adjacent sliding housings (310); Two rubber membranes (307) are respectively fixed to two sides of the air chamber (306); one side of the rubber membrane (307) is arranged in frictional contact with the corresponding sliding shell (310); the other side of the rubber membrane (307) is arranged in the air chamber (306); after the air chamber (306) is inflated, the rubber membrane (307) is deformed and squeezed against the corresponding side wall of the sliding shell (310); A second air supply pipeline (318) is arranged in the second cross bar (305), and the second air supply pipeline (318) is connected to the bottom of the plurality of air chambers (306); The second air supply assembly is connected to the middle portion of the second air supply pipeline (318).

7. The bottled solution handling device based on machine vision according to claim 6, characterized in that: The second air supply assembly comprises: A connecting block (319) is fixedly connected to the middle part of the second cross bar (305), and one end of the connecting block (319) is connected and arranged in the middle part of the second air supply pipeline (318); The second solenoid valve and the barometer (320) are connected and arranged at the other end of the connecting block (319); the second solenoid valve and the barometer (320) are connected to an air pump (7); and the air pump (7) is fixedly connected to the vehicle body.

8. The machine vision-based bottled solution transport device according to claim 7, characterized in that: The second locking structure comprises: One end of the first air supply pipeline (308) is connected to the plurality of piston chambers (317), and the other end of the first air supply pipeline (308) is connected to a first electromagnetic valve and a barometer (309), and the first electromagnetic valve and the barometer (309) are connected to the air pump (7).

9. The machine vision-based bottled solution transport device according to claim 8, characterized in that: The vehicle body comprises: A vehicle body (1), wherein one side of the vehicle body (1) is provided with an arc-shaped opening (14) for the bottle to enter, and the position of the arc-shaped opening (14) matches the clamping assembly; the upright column (2) is fixedly connected to the vehicle body (1); A lifting rod (6), the fixed end of which is fixedly connected to the vehicle body (1), and the movable end of which is fixed to the column (2) via a connecting block (5); A control power supply component bracket (12) is fixedly connected to the bottom of the vehicle body (1), and a controller and a power supply (13) are fixedly connected in the control power supply component bracket (12); A rear-view camera (4) is fixedly connected to the top of the column (2); A front-view camera (8) fixedly connected to the front end of the vehicle body (1) in the direction of travel; A moving part, arranged at the bottom of the vehicle body (1); The controller and power supply (13) are electrically connected to the moving part, the air pump (7), the lifting rod (6), the telescopic rod (302), the first solenoid valve and barometer (309) and the second solenoid valve and barometer (320).

10. The bottled solution transport device based on machine vision according to claim 9, characterized in that: The mobile unit comprises: Two driving wheels (9) are symmetrically arranged at the front end of the vehicle body (1) in the direction of travel, the driving wheels (9) are rotationally connected to the vehicle body (1), the driving wheels (9) are shaft-connected to the output shaft of a driving motor (10), and the fixed end of the driving motor (10) is fixedly connected to the vehicle body (1); Two universal wheels (11) are symmetrically arranged at the rear end of the vehicle body (1) in the direction of travel, and the universal wheels (11) are universally connected to the vehicle body (1).

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