Object grabbing method and device based on visual identification of unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an object grabbing method and device based on unmanned aerial vehicle visual recognition. The grabbing assembly comprises a finger position ring, the middle of the bottom of the finger position ring is fixedly connected with a pneumatic suction cup communicated with an air pump, the air pump is fixedly connected in the finger position ring in a sleeved mode, the side surface of the finger position ring is fixedly connected with in-claw sensors, and the multiple in-claw sensors are distributed in an annular array mode with the circle center of the finger position ring as the circle center. The top edge opening of the finger position ring is fixedly connected with finger position buckles, and the side, away from the finger position ring, of each finger position buckle is hinged to a finger joint. According to the object grabbing method and device based on unmanned aerial vehicle visual recognition, an air pump and a pneumatic suction cup in a finger position ring can suck an object with a large area so as to complete the grabbing task, the object with a small size can be grabbed through a clamping jaw and finger joint bending, and therefore the application range of object grabbing of an unmanned aerial vehicle is widened; and the universality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and specifically to an object grasping method and device based on unmanned aerial vehicle vision recognition. Background Art

[0002] An unmanned aerial vehicle (UAV) is an unpiloted aircraft controlled by a radio remote control device and a self-contained program control device. Nowadays, UAV technology is widely used, and different types of UAVs have been developed according to their functions.

[0003] The UAV grasping device realizes the object transportation between two points by mounting a grasping device on the basis of the UAV. In the prior art, during the transportation of different objects, the form of the transported items is relatively single, so that the grasping device does not have good compatibility with the grasping object. Summary of the Invention

[0004] The purpose of the present invention is to provide an object grasping method and device based on unmanned aerial vehicle vision recognition to solve the problem that the UAV grasping device realizes the object transportation between two points by mounting a grasping device on the basis of the UAV. In the prior art, during the transportation of different objects, the form of the transported items is relatively single, so that the grasping device does not have good compatibility with the grasping object. To achieve the above purpose, the present invention provides the following technical solutions: An object grasping method and device based on unmanned aerial vehicle vision recognition, including a structural plate; A grasping assembly, the grasping assembly includes a finger ring, the middle of the bottom of the finger ring is fixedly connected with a pneumatic suction cup communicated with an air pump, the air pump is fixedly sleeved in the finger ring, the side surface of the finger ring is fixedly connected with inner claw sensors, and a plurality of inner claw sensors are distributed in a circular array around the center of the finger ring. The top edge of the finger ring is fixedly connected with finger buckles. One side of each finger buckle away from the finger ring is hinged with a finger joint, and two finger joints are hinged end to end on each finger buckle. A clamping claw is fixedly connected to the side of the finger joint away from the finger ring. A claw pad is fixedly connected to the bottom of each finger joint. The top of the finger ring is fixedly connected with a base through bolts. A damper is arranged on the top of the base, and one end of the movable rod of the damper is fixedly connected with the top of the base. The top of the main body of the damper is fixedly connected with a U-shaped fixing seat. A spring is movably sleeved on the side surface of the movable rod of the damper, and both ends of the spring are respectively abutted against the top of the base and the bottom of the main body of the damper. An ankle joint plate is fixedly connected to each side of the U-shaped fixing seat through bolts; A leg assembly, the leg assembly includes a leg connecting rod, one end of the leg connecting rod is hinged to the ankle joint plate through a pin, the other end of the leg connecting rod is hinged to the knee joint plate through a pin, the ankle joint plate and the knee joint plate are hinged with a driving rod, one end of the driving rod is fixedly connected to a fan gear, the two driving rods on the knee joint plate are connected by fan gear meshing transmission, one group of the leg connecting rods and the driving rod are hinged to the hip joint plate through a pin, the top of the hip joint plate is fixedly connected to the bottom of the structural plate, and one of the leg connecting rods is fixedly connected to a buffer pad near the top of the ankle joint plate.

[0005] Further preferably, a flight assembly is provided on the top of the structural plate, and the flight assembly includes a hollow aluminum column, the bottom of the hollow aluminum column is fixedly connected to the top of the structural plate, the top of the hollow aluminum column is fixedly connected to a frame, the tops of the extension rods on the four corners of the frame are fixedly connected to a drive motor, and a rotor is fixedly connected to the output shaft end of the drive motor.

[0006] Further preferably, a control module is fixedly connected to the top of the frame, a battery module is fixedly connected to the bottom of the frame, the control module is electrically connected to the battery module, and the control module is electrically connected to the drive motor, the claw sensor and the air pump.

[0007] Further preferably, the grabbing assembly and the leg assembly are two and are symmetrically distributed about the central axis of the structural plate, and each leg assembly has two leg connecting rods, two driving rods, two knee joint plates, two sector gears and two ankle joint plates.

[0008] Further preferably, the pneumatic suction cup is used to fit the grasped object and adsorb it, and the sensor in the claw is used to identify the grasped object and locate the grasped object.

[0009] Further preferably, the battery module is used to provide power for the operation of the drive motor, the in-paw sensor and the control module, and the control module is used to control the drive motor and transmit the image acquired by the in-paw sensor.

[0010] A method for grasping an object based on drone visual recognition comprises the following steps: S1: When the object needs to be grasped, the drone is controlled to fly above the designated target, and the target position is determined through the image transmitted back by the sensor in the claw, and the drone is controlled to descend to a graspable position; S2: Then start the air pump to make the pneumatic suction cup adhere to the surface of the grasped object, and absorb objects with large area and inconvenient to grasp, so as to grasp the object; S3: When the target area to be grasped is small, the driving device in the knuckle is activated to bend the clamping jaw and the knuckle to grasp the target object, so as to grasp the target object that cannot be adsorbed by the pneumatic suction cup.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: In the present invention, the air pump and the pneumatic suction cup in the finger ring can adsorb objects with a large area to complete the grasping task. By bending the clamping jaw and the knuckle, objects with a small volume can be grasped, thereby expanding the scope of application of the UAV for grasping objects and improving the compatibility.

[0012] In the present invention, the claw inner sensor can feed back the picture during flight, which is beneficial to calibrating the grasping position through the fed-back picture, thereby improving the real-time performance and operation accuracy of the grasping operation and enhancing the grasping efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Schematic diagram of the three-dimensional structure of the present invention Figure 1 ; Figure 2 Schematic diagram of the three-dimensional structure of the present invention Figure 2 ; Figure 3 Schematic diagram of the three-dimensional structure of the present invention Figure 3 ; Figure 4 Schematic diagram of the partially enlarged structure of the present invention.

[0014] In the figure: 1, structural plate; 2, grasping assembly; 3, leg assembly; 4, flight assembly; 5, control module; 6, battery module; 201, finger ring; 202, claw inner sensor; 203, pneumatic suction cup; 204, knuckle; 205, clamping jaw; 206, spring; 207, U-shaped fixing seat; 208, claw pad; 209, ankle joint plate; 210, finger buckle; 211, damper; 212, base; 301, leg link; 302, knee joint plate; 303, sector gear; 304, drive rod; 305, hip joint plate; 306, buffer pad; 401, hollow aluminum column; 402, frame; 403, drive motor; 404, rotor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0016] Please refer toFigures 1-4 ,The present invention provides a technical solution: a method and device for grasping an object based on UAV visual recognition, comprising a structural plate 1; The gripping assembly 2 comprises a finger positioning ring 201, a pneumatic suction cup 203 connected to an air pump is fixedly connected to the middle of the bottom of the finger positioning ring 201, the air pump is fixedly sleeved in the finger positioning ring 201, a claw internal sensor 202 is fixedly connected to the side surface of the finger positioning ring 201, and a plurality of claw internal sensors 202 are distributed in a circular array with the center of the finger positioning ring 201, a finger positioning buckle 210 is fixedly connected to the top edge of the finger positioning ring 201, a finger joint 204 is hinged on the side of each finger positioning buckle 210 away from the finger positioning ring 201, and two finger joints 204 are hinged at the head and tail on each finger positioning buckle 210, and the finger joint 204 on the side away from the finger positioning ring 201 is fixed A clamping claw 205 is connected, a claw pad 208 is fixedly connected to the bottom of each finger joint 204, the top of the finger ring 201 is fixedly connected to the base 212 by bolts, a damper 211 is arranged on the top of the base 212, and one end of the movable rod of the damper 211 is fixedly connected to the top of the base 212, a U-shaped fixing seat 207 is fixedly connected to the top of the main body of the damper 211, a spring 206 is movably sleeved on the side surface of the movable rod of the damper 211, and the two ends of the spring 206 are respectively abutted against the top of the base 212 and the bottom of the main body of the damper 211, and the opposite side of the U-shaped fixing seat 207 is fixedly connected to the ankle joint plate 209 by bolts; The leg assembly 3 comprises a leg connecting rod 301, one end of the leg connecting rod 301 is hinged to the ankle joint plate 209 through a pin, the other end of the leg connecting rod 301 is hinged to the knee joint plate 302 through a pin, the ankle joint plate 209 and the knee joint plate 302 are hinged with a driving rod 304, one end of the driving rod 304 is fixedly connected with a fan gear 303, and the two driving rods 304 on the knee joint plate 302 are meshingly connected with the fan gear 303, one group of the leg connecting rods 301 and the driving rod 304 are hinged with a hip joint plate 305 through a pin, the top of the hip joint plate 305 is fixedly connected to the bottom of the structural plate 1, and one of the leg connecting rods 301 is fixedly connected with a buffer pad 306 near the top of the ankle joint plate 209.

[0017] In this embodiment, Figure 1 , Figure 2 and Figure 3 As shown, a flight assembly 4 is provided on the top of the structural plate 1, and the flight assembly 4 includes a hollow aluminum column 401, the bottom of the hollow aluminum column 401 is fixedly connected to the top of the structural plate 1, the top of the hollow aluminum column 401 is fixedly connected to a frame 402, the tops of the extension rods on the four corners of the frame 402 are fixedly connected to drive motors 403, and the output shaft ends of the drive motors 403 are fixedly connected to rotors 404.

[0018] In this embodiment,Figure 1 , Figure 2 and Figure 3 As shown in Figure 3 , a control module 5 is fixedly connected to the top of the frame 402, a battery module 6 is fixedly connected to the bottom of the frame 402, the control module 5 is electrically connected to the battery module 6, and the control module 5 is electrically connected to the drive motor 403, the in-claw sensor 202 and the air pump.

[0019] In this embodiment, as Figure 1 , Figure 2 and Figure 3 As shown in Figure 3 , there are two grasping components 2 and leg components 3, which are symmetrically distributed along the central axis of the structural plate 1. In each leg component 3, there are two leg connecting rods 301, drive rods 304, knee joint plates 302, sector gears 303 and ankle joint plates 209.

[0020] In this embodiment, as Figure 1 , Figure 2 and Figure 3 As shown in Figure 3 , the pneumatic suction cup 203 is used to fit and adsorb the grasping object, and the in-claw sensor 202 is used to identify and locate the grasping object.

[0021] In this embodiment, as Figure 1 , Figure 2 and Figure 3 As shown in Figure 3 , the battery module 6 is used to provide power for the operation of the drive motor 403, the in-claw sensor 202 and the control module 5, and the control module 5 is used to control the drive motor 403 and transmit the images acquired by the in-claw sensor 202.

[0022] An object grasping method based on UAV vision recognition includes the following steps: S1: When it is necessary to grasp a grasping object, control the UAV to fly above the specified target, determine the target position through the picture transmitted back by the in-claw sensor 202, and control the UAV to descend to the graspable position; S2: Then start the air pump to make the pneumatic suction cup 203 attach to the surface of the grasped object, and adsorb an object with a large area and inconvenient to grasp, so as to realize the grasping of the object; S3: When the area of the grasped target is small, start the driving device in the knuckle 204 to bend the claw 205 and the knuckle 204 to grasp the target grasped object, so as to realize the grasping of the target object that cannot be adsorbed by the pneumatic suction cup 203.

[0023] The usage method and advantages of the present invention: For the object grasping method and device based on UAV vision recognition, during use, the working process is as follows: As Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, when it is necessary to grasp an object to be grasped, the drone is controlled to fly above the specified target, and the target position is determined through the picture transmitted back by the in-claw sensor 202. Then the drone is controlled to descend to the graspable position. Next, the air pump is started to make the pneumatic suction cup 203 adhere to the surface of the object to be grasped, so as to adsorb an object with a large area and inconvenient to grasp, thus realizing the grasping of the object. When the area of the grasped target is small, the driving device in the knuckle 204 is started to make the claw 205 and the knuckle 204 bend and grasp the target object to be grasped, so as to realize the grasping of the target object that cannot be adsorbed by the pneumatic suction cup 203.

[0024] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. An object grasping device based on drone visual recognition, characterized in that: comprising a structural plate (1); A gripping assembly (2), the gripping assembly (2) comprising a finger position ring (201), a pneumatic suction cup (203) in communication with an air pump fixedly connected to the middle of the bottom of the finger position ring (201), the air pump fixedly sleeved in the finger position ring (201), a claw sensor (202) fixedly connected to the side surface of the finger position ring (201), and a plurality of claw sensors (202) are distributed in a circular array with the center of the finger position ring (201), a finger position buckle (210) fixedly connected to the top edge of the finger position ring (201), a finger joint (204) hingedly connected to the side of each finger position buckle (210) away from the finger position ring (201), and two finger joints (204) are hingedly connected to each other at the head and tail, and the side of the finger joint (204) away from the finger position ring (201) A clamping claw (205) is fixedly connected, a claw pad (208) is fixedly connected to the bottom of each finger joint (204), the top of the finger ring (201) is fixedly connected to a base (212) by bolts, a damper (211) is arranged on the top of the base (212), and one end of a movable rod of the damper (211) is fixedly connected to the top of the base (212), a U-shaped fixing seat (207) is fixedly connected to the top of the main body of the damper (211), a spring (206) is movably sleeved on the side surface of the movable rod of the damper (211), and two ends of the spring (206) are respectively abutted against the top of the base (212) and the bottom of the main body of the damper (211), and the opposite side of the U-shaped fixing seat (207) is fixedly connected to an ankle joint plate (209) by bolts; A leg assembly (3), the leg assembly (3) comprising a leg connecting rod (301), one end of the leg connecting rod (301) being hinged to an ankle joint plate (209) via a pin, the other end of the leg connecting rod (301) being hinged to a knee joint plate (302) via a pin, the ankle joint plate (209) and the knee joint plate (302) being hinged to a driving rod (304), one end of the driving rod (304) being fixedly connected to a sector gear (303), The two driving rods (304) on the knee joint plate (302) are meshed and connected via a sector gear (303), wherein a group of the leg connecting rods (301) and the driving rods (304) are hingedly connected to a hip joint plate (305) via a pin shaft, and the top of the hip joint plate (305) is fixedly connected to the bottom of the structural plate (1), and a buffer pad (306) is fixedly connected to the top of one of the leg connecting rods (301) near the ankle joint plate (209).

2. The object grabbing device based on drone visual recognition according to claim 1 is characterized in that: A flight assembly (4) is arranged on the top of the structural plate (1), and the flight assembly (4) comprises a hollow aluminum column (401), the bottom of the hollow aluminum column (401) is fixedly connected to the top of the structural plate (1), the top of the hollow aluminum column (401) is fixedly connected to a frame (402), the tops of the extension rods at the four corners of the frame (402) are fixedly connected to drive motors (403), and the output shaft end of the drive motor (403) is fixedly connected to a rotor (404).

3. The object grabbing device based on drone visual recognition according to claim 2 is characterized in that: A control module (5) is fixedly connected to the top of the frame (402), a battery module (6) is fixedly connected to the bottom of the frame (402), the control module (5) is electrically connected to the battery module (6), and the control module (5) is electrically connected to the drive motor (403), the claw sensor (202) and the air pump.

4. The object grabbing device based on drone visual recognition according to claim 1 is characterized in that: The grasping assembly (2) and the leg assembly (3) are two and are symmetrically distributed about the central axis of the structural plate (1), and each leg assembly (3) has two leg connecting rods (301), driving rods (304), knee joint plates (302), sector gears (303) and ankle joint plates (209).

5. The object grabbing device based on drone visual recognition according to claim 1 is characterized in that: The pneumatic suction cup (203) is used to fit the grasped object and absorb it, and the sensor in the claw (202) is used to identify the grasped object and locate the grasped object.

6. The object grabbing device based on drone visual recognition according to claim 3 is characterized by: The battery module (6) is used to provide power for the operation of the drive motor (403), the paw sensor (202) and the control module (5); the control module (5) is used to control the drive motor (403) and transmit images acquired by the paw sensor (202).

7. The object grabbing method based on drone visual recognition according to any one of claims 1 to 6, characterized in that: The steps include: S1: When it is necessary to grasp an object, the drone is controlled to fly above a designated target, and the target position is determined through the image transmitted back by the sensor (202) in the claw, and the drone is controlled to descend to a graspable position; S2: Then, the air pump is started so that the pneumatic suction cup (203) is attached to the surface of the grasped object, and objects with a large area and difficult to grasp are adsorbed, thereby achieving grasping of the object; S3: When the target area to be grasped is small, the driving device in the finger joint (204) is activated to bend the clamping claw (205) and the finger joint (204) and grasp the target object, thereby grasping the target object that cannot be sucked by the pneumatic suction cup (203).

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