A machine vision based bottled solution handling device

Abstract

The present application belongs to the technical field of chemical production device, and particularly relates to a bottle solution carrying device based on machine vision, which comprises a vehicle body, a stand column, a clamping assembly for clamping a bottle body, a plurality of self-adapting clamping parts, a mounting block, two arc-shaped bending arms, a telescopic module, a mounting bracket, a plurality of clamping pieces and a locking mechanism.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of chemical production devices, and particularly relates to a bottle solution carrying device based on machine vision. BACKGROUND

[0002] In the chemical production process, large bottle chemical solutions are needed, and the solutions need to be carried at a long distance during use. Since the bottle solutions are heavy, on the one hand, the workload of the traditional manual carrying method is large, and on the other hand, since the sizes of the bottle containers are different, the mechanical carrying equipment cannot adapt to the bottle containers of different sizes when clamping the bottle containers. Therefore, a bottle solution carrying device based on machine vision is urgently needed to solve the problem. SUMMARY

[0003] The application aims to provide a bottle solution carrying device based on machine vision to solve the above problems.

[0004] To achieve the above purpose, the application provides the following solutions.

[0005] A bottle solution carrying device based on machine vision comprises:

[0006] a vehicle body;

[0007] a stand column which is arranged on the vehicle body in a liftable manner, and is provided with a clamping assembly for clamping a bottle body;

[0008] The clamping assembly comprises a plurality of self-adaptive clamping parts which can be self-adaptively changed according to the size of the bottle body.

[0009] The self-adaptive clamping part comprises:

[0010] a mounting block which is fixedly connected with the stand column;

[0011] two arc-shaped bending arms which are fixedly connected with the front and rear sides of the mounting block, respectively;

[0012] a telescopic module which is fixedly connected with the arc-shaped bending arms and located between the two arc-shaped bending arms;

[0013] a mounting bracket which is fixedly connected with the movable end of the telescopic module;

[0014] a plurality of clamping pieces which are arranged on the mounting bracket in sequence, and are arranged in a sliding manner with the mounting bracket;

[0015] a locking mechanism which is in transmission connection with the plurality of clamping pieces, and is used for fixing the positions of the clamping pieces after the clamping pieces are self-adaptively changed 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 crossbar fixed to the movable end of the telescopic rod and a second crossbar fixed to the first crossbar, with a gap being provided between the second crossbar and the first crossbar;

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

[0019] Optionally, the clamping member includes:

[0020] a sliding housing slidably connected to the second crossbar, wherein a gap is provided between the sliding housings of two adjacent clamping members;

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

[0022] an inner sliding rod, slidably disposed in the sliding housing, one end of the inner sliding rod being fixedly connected to a sealing plate and located in the sliding housing, the sealing plate and the inner wall of the sliding housing forming a piston cavity;

[0023] a first spring, coaxially sleeved on the outer side of the inner sliding rod, one end of the first spring being fixedly connected to the sealing plate, and the other end of the first spring being 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 to the locking mechanism.

[0027] Optionally, 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 and is used to fix the plurality of 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, which is provided in the second crossbar and is arranged between two adjacent sliding housings;

[0031] Two rubber membranes are fixed to both sides of the air chamber, one side of the rubber membrane is in frictional contact with the corresponding sliding shell, and the other side of the rubber membrane is disposed in the air chamber. When the air chamber is inflated, the rubber membrane is deformed and squeezed against the corresponding side wall of the sliding shell.

[0032] a second air supply pipeline, disposed in the second crossbar, the second air supply pipeline being in communication with the bottoms of the plurality of air chambers;

[0033] The second air supply component is connected to the middle part of the second air supply pipeline.

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

[0035] a connecting block fixedly connected to the middle portion of the second crossbar, wherein one end of the connecting block is connected to the middle portion of the second air supply pipeline;

[0036] The second electromagnetic valve and the barometer are connected and arranged at the other end of the connecting block. The second electromagnetic 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 includes:

[0040] A vehicle body, wherein a curved opening for the bottle to enter is formed on one side of the vehicle body, and the position of the curved opening matches the clamping assembly; the upright post is fixedly connected to the vehicle 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 rearview 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 comprises:

[0048] Two driving wheels are symmetrically arranged at the front end of the moving direction of the vehicle body, the driving wheels are rotationally connected with the vehicle body, the output shaft of the driving motor is connected with the driving wheels, and the fixed end of the driving motor is fixedly connected with the vehicle body.

[0049] Two universal wheels are symmetrically arranged at the tail end of the moving direction of the vehicle body, and the universal wheels are universally connected with the vehicle body.

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

[0051] In use, the clamping assembly is moved close to the bottle to be clamped by the vehicle body, and after the adaptive clamping part is sleeved outside the bottle, the mounting bracket is moved by the telescopic module, so that the plurality of clamping pieces on each mounting bracket are in contact with the outside of the bottle. After the clamping pieces are in contact with the outside of the bottle, the clamping pieces slide on the mounting bracket as the mounting bracket continues to move, until the plurality of clamping pieces wrap the bottle, the positions of the clamping pieces are fixed by the locking mechanism, the distribution of the clamping pieces matches the contour of the bottle, and as the plurality of clamping pieces are locked, the mounting bracket continues to move by the telescopic module, so that the clamping force is generated. Then, the stand rises to lift the bottle, and the vehicle body is moved to the designated position.

[0052] Through the arrangement of the adaptive clamping part, it can be applied to bottles of different sizes, and through the adhesion of the clamping pieces to the contour of the bottle, it can be applied to bottles of different shapes. The locking mechanism and the telescopic module cooperate to enable the device to stably clamp the bottle, and the visual recognition function cooperates to realize intelligent and efficient transportation. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor:

[0054] Figure 1 It is the main view of the structure of the present application;

[0055] Figure 2 It is the top view of the vehicle body structure of the present application;

[0056] Figure 3 It is the top view of the adaptive clamping part structure of the present application;

[0057] Figure 4 It is the main view of the structure of the present application Figure 3 The local enlarged view of A in the present application;

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

[0059] Figure 6 This 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 housing; 311, inner sliding rod; 312, arc-shaped 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts 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 transporting device based on machine vision, comprising:

[0064] body;

[0065] A column 2 is arranged on the vehicle body in a liftable manner, and a clamping assembly for clamping the bottle body is installed 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 includes:

[0068] Mounting block 303, fixedly connected to column 2;

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

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

[0071] A mounting bracket is fixed 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 in transmission connection with the plurality of clamping members. The locking mechanism is used to fix the positions of the clamping members after the clamping members adaptively change according to the size of the bottle body.

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

[0075] As an optional embodiment, 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, with a gap being provided between the second crossbar 305 and the first crossbar 304;

[0077] The clamping member is slidably disposed within the second crossbar 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 crossbar 305 ;

[0081] An inner sliding rod 311 is slidably disposed within the sliding housing 310. One end of the inner sliding rod 311 is fixedly connected to a sealing plate 316 and is located within the sliding housing 310. The sealing plate 316 and the inner wall of the sliding housing 310 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 curved, the curved 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, the sealing plate 316 first 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. This arrangement can increase the moving stroke of the curved clamping groove 312 to adapt to bottles of more sizes. The gas in the piston cavity 317 is discharged. After all the curved clamping grooves 312 are moved into place, they can be locked by the locking mechanism.

[0087] After use, as the clamping force with the bottle surface decreases, the locking mechanism is unlocked, and the sliding housing 310 and the arc-shaped clamping groove 312 are 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. The first locking structure is disposed in the second crossbar 305 and is used to fix the 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 crossbar 305 and is disposed between two adjacent sliding housings 310 ;

[0092] Two rubber membranes 307 are fixed to either side of the air chamber 306. One side of the rubber membrane 307 is in frictional contact with the corresponding sliding housing 310, and the other side of the rubber membrane 307 is disposed within 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 housing 310.

[0093] A second air supply line 318 is provided in the second crossbar 305 and is in communication with the bottoms 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] The connecting block 319 is fixedly connected to the middle portion of the second cross bar 305 , and one end of the connecting block 319 is connected to the middle portion 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, which 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 , which 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 simultaneously supplies air to the first air supply pipeline 308 and the second air supply pipeline 318, 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 the specified air pressure.

[0102] The gas entering the air chamber 306 pushes the rubber membrane 307 to deform and squeeze the sidewall of the sliding housing 310. The frictional force secures the sliding housing 310 to the second crossbar 305. The second solenoid valve and barometer 320 are opened, allowing the air pump 7 to pump air into each air chamber 306 through the second air supply line 318. After the second solenoid valve and barometer 320 are closed, the air pressure in the air chamber 306 is maintained at the specified level.

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

[0104] The vehicle 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 vehicle body 1;

[0105] The lifting rod 6 has a fixed end fixed to the vehicle body 1 and a movable end fixed to the column 2 via a connecting block 5;

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

[0107] A rearview camera 4 is fixed to the top of the pillar 2;

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

[0109] The moving part is 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 controlled 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 embodiment, the moving part includes:

[0113] Two drive wheels 9 are symmetrically arranged at the front end of the vehicle body 1 in the direction of travel. The drive wheels 9 are rotatably connected to the vehicle body 1. The drive wheels 9 are connected to the output shaft of the drive motor 10. The fixed end of the drive 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 the driving motors 10 respectively. By controlling the speed and direction of the driving motors 10 respectively, the functions of moving forward, backward, and turning of the vehicle body can be realized.

[0116] Visual recognition algorithm is an existing technology. It 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, enhancement, scaling, and other operations are performed on the image to better extract features.

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

[0120] Feature matching: Match the extracted features with a known template or feature database 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] Target detection algorithms: such as Haar feature detection, HOG feature detection, and deep learning-based convolutional neural networks (CNNs), are used to accurately locate and identify specific objects.

[0125] Object recognition algorithms: such as SIFT feature matching, SURF feature matching, and deep learning-based convolutional neural networks, 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 the Viola-Jones algorithm, DeepFace, FaceNet, etc., and 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, this 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, the navigation path recognition algorithm and navigation control algorithm are researched and designed on the existing hardware platform.

[0135] The method comprises the following steps: first, analyzing the characteristics of various machine vision systems, and on this basis, summarizing the advantages of panoramic vision system over traditional machine vision system, and according to the advantages and disadvantages of various ways, selecting the panoramic vision system based on catadioptric principle as the navigation sensor of the robot, which is low in cost, fast in imaging speed, and very suitable for occasions with high real-time requirements; the panoramic vision system based on catadioptric principle uses a convex mirror with a certain surface shape to reflect the information of the environment around the robot into a camera for imaging, and obtains the environmental image in the horizontal 360° and a certain angle vertical field of view; due to the compression of the convex mirror to the scene environmental information, there is a radial distortion of the object in the imaging plane of the camera, so that some regular objects in the actual scene are deformed in imaging; according to the imaging characteristics of the panoramic vision system based on catadioptric principle, the commonly used several calibration methods of panoramic vision system are compared, and the distance and angle of the scene image in a certain actual plane parallel to the plane of the camera are calibrated through the experimental method, and the corresponding relationship between the object image points is obtained; this method does not need to know the internal and external parameters of the camera and the parameter equation of the mirror surface, has lower requirements for the installation of the system, and is convenient for calibration; second, designing the crop row environment image acquisition and processing algorithm of the panoramic vision system based on catadioptric principle, a. using Directshow technology to collect the camera image; according to the characteristics of the working environment, the collected image is preprocessed, the color correction of the collected color image is carried out by using the gray world assumption algorithm and the white balance algorithm and the diagonal correction model, and the essential color of the object is approximately restored; b. on this basis, the image is grayed by using the normalized green feature value 2xg-r-b, and then the binary image of the working environment is obtained by using the maximum inter-class variance method; c. the pulse noise points in the image are removed by using the median filter, and the ideal binary image of the surrounding environment is obtained; 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 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. Based on the characteristics of the operating environment, fuzzy control is used as the navigation control method in this design because it does not require a precise mathematical model of the controlled object and is similar to human thinking. 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 parameters, and the output is the rotational speed of the left and right wheels of the vehicle. The design and experimental verification are carried out using MATLAB. 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 navigation control tests are conducted indoors in an environment without fixed light source illumination. The results show that the system can accurately identify the navigation path line and stably track the identified navigation path line.

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

[0137] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A bottled solution transport device based on machine vision, characterized in that: include: body; A column (2) is arranged on the vehicle body in a liftable manner, 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) is 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 bent arms (301) and located between the two arc-shaped bent 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; A locking mechanism is in transmission connection 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; The telescopic module comprises a telescopic rod (302), a fixed end of the telescopic rod (302) is fixedly connected to the arc-shaped bent arm (301), and a movable end of the telescopic rod (302) is fixedly connected to the mounting bracket; The mounting bracket comprises 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), wherein a gap is provided between the second crossbar (305) and the first crossbar (304); The clamping member is slidably arranged in the second cross bar (305); The clamping member comprises: A 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; 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 crossbar (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 enclosed to form a piston cavity (317); 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); An 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); A clamping rubber (313) is fixed to one 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.

2. The bottled solution transport device based on machine vision according to claim 1, 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 the plurality of 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).

3. The machine vision-based bottled solution transport device according to claim 2, characterized in that: The first locking structure includes: An air chamber (306) is provided in the second crossbar (305), and the air chamber (306) is provided between two adjacent sliding housings (310); Two rubber membranes (307) are respectively fixed on both 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 provided in the second crossbar (305), and the second air supply pipeline (318) is connected to the bottoms of the plurality of air chambers (306); The second air supply assembly is in communication with the middle portion of the second air supply pipeline (318).

4. The machine vision-based bottled solution transport device according to claim 3, characterized in that: The second air supply assembly comprises: A connecting block (319) is fixedly connected to the middle portion of the second crossbar (305), and one end of the connecting block (319) is connected to the middle portion of the second air supply pipeline (318); The second solenoid valve and the air pressure gauge (320) are connected to the other end of the connecting block (319), and the second solenoid valve and the air pressure gauge (320) are connected to the air pump (7), and the air pump (7) is fixed to the vehicle body.

5. The machine vision-based bottled solution transport device according to claim 4, characterized in that: The second locking structure includes: 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 pressure gauge (309), and the first electromagnetic valve and the pressure gauge (309) are connected to the air pump (7).

6. The machine vision-based bottled solution transport device according to claim 5, characterized in that: The vehicle body comprises: A vehicle body (1), wherein a curved opening (14) for the bottle to enter is provided on one side of the vehicle body (1), and the position of the curved 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 the lifting rod (6) 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 rearview 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 electromagnetic valve and barometer (309), and the second electromagnetic valve and barometer (320).

7. The machine vision-based bottled solution transport device according to claim 6, characterized in that: The moving part includes: 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 shafts of the driving wheels (9) are connected to the output shaft of the 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).

Images