Sampler based on binocular vision

Abstract

The utility model relates to a sampling machine based on binocular vision, the sampling machine comprises a stand column, a cross beam, a lifting assembly, a sampling rod and a binocular camera, the stand column and the sampling rod are vertically arranged, the cross beam is transversely and rotatably arranged at the upper end of the stand column, one end of the lifting assembly is connected to the end part of the cross beam, and the other end of the lifting assembly is connected to the upper end of the sampling rod; the binocular camera is arranged at the upper end of the sampling rod, the shooting direction of the binocular camera is vertically downward, the lifting assembly comprises a rotating seat, a mounting seat, an upper rod and a lower rod, the rotating seat is rotationally arranged on the upper side of the end part of the cross beam, and the sampling rod and the binocular camera are both mounted on the lower side of the mounting seat. The two ends of the upper rod and the two ends of the lower rod are hinged to the rotating base and the mounting base respectively, and the upper rod and the lower rod are arranged in parallel. The utility model aims to solve or at least alleviate the problems that the lifting speed of a sampling rod of an existing sampling machine is low and the grain condition cannot be really observed, and provides a sampling machine based on binocular vision.

Description

Technical Field

[0001] The utility model belongs to the technical field of sampling machines, and in particular relates to a sampling machine based on binocular vision. Background Art

[0002] Currently, after purchasing various grains domestically, grain sampling and inspection are often required during the warehousing process. Grain is primarily sourced from grain brokers, and transported primarily in packaged or bulk form. Packaged grain sampling, using a bag probe, can only sample the sides and top of the vehicle, failing to sample the center of the carriage. Quality control relies on on-site inspection and identification during loading and unloading, which is time-consuming and labor-intensive. For bulk grain, sampling can only be performed manually using conventional bulk grain samplers, climbing up to 2-4 meters above the vehicle roof. This is extremely dangerous and inefficient, and also involves direct contact with the grain, exposing it to dust and potentially causing personal injury.

[0003] Several existing sampling machines utilize a robotic arm to move a sampling rod to sample bulk grain. This allows for efficient and uniform sampling of grain from different locations within the grain pile. The sampling machine extracts grain from the pile, then transports it via a pipeline to a collection box for subsequent testing.

[0004] However, this type of sampling machine mostly drives the sampling rod to rise and fall by raising and lowering the column, which requires a large amount of power and a low lifting rate.

[0005] Moreover, the current sampling machines cannot truly observe the imperfect grains, color and impurities of the grain in the grain pile, cannot accurately judge the quality of the grain, and cannot transmit the detected data to the grain and oil purchasing system in a timely manner. Utility Model Content

[0006] The purpose of the utility model is to overcome the deficiencies in the prior art, solve or at least alleviate the problem that the sampling rod of the current sampling machine has a low lifting speed and cannot truly observe the grain situation, and provide a sampling machine based on binocular vision.

[0007] The utility model is realized through the following technical solutions:

[0008] A sampling machine based on binocular vision, comprising a column, a crossbeam, a lifting assembly, a sampling rod, and a binocular camera. The column and the sampling rod are both arranged vertically, the crossbeam is arranged to rotate laterally at the upper end of the column, one end of the lifting assembly is connected to the end of the crossbeam, and the other end is connected to the upper end of the sampling rod. The binocular camera is arranged at the upper end of the sampling rod, and the shooting direction of the binocular camera is vertically downward.

[0009] The lifting assembly includes a swivel seat, a mounting seat, an upper rod and a lower rod. The swivel seat is rotatably arranged on the upper side of the end of the beam. The sampling rod and the binocular camera are both installed on the lower side of the mounting seat. Both ends of the upper rod and the lower rod are respectively hinged to the swivel seat and the mounting seat. The upper rod and the lower rod are arranged in parallel. The swivel seat, the mounting seat, the upper rod and the lower rod form a parallelogram connecting rod structure.

[0010] In order to further realize the present invention, the following technical solutions may be preferably selected:

[0011] Preferably, an electric push rod is provided between the lower rod and the rotating seat, and the electric push rod drives the lower rod to rotate. The fixed end of the electric push rod is hinged to the lower part of the rotating seat, and the telescopic end of the electric push rod extends upward and is hinged to the lower rod.

[0012] Preferably, a camera housing is installed on the lower side of the mounting seat, and the binocular camera is installed in the camera housing;

[0013] A quick-connect structure is provided between the camera housing and the mounting seat, and the quick-connect structure includes an insert block and a card plate. The insert block is provided on the top surface of the camera housing, and the bottom plate of the mounting seat is provided with a slot, the insert block is embedded in the slot, and the card plate is horizontally slidably provided on the insert block, and one end of the card plate extends outward from the insert block and is located on the upper side of the bottom plate of the mounting seat.

[0014] Preferably, the card is in the shape of ┐, and there are two card plates arranged in a mirror image. A first spring is arranged between the two card plates, and the two ends of the first spring respectively press against the vertical sections of the two card plates. The first spring drives the horizontal sections of the two card plates to extend outward to insert the blocks.

[0015] Preferably, the quick-connect structure further comprises a limit plate, the limit plate is longitudinally slidably arranged in the camera housing, and a top plate and a positioning plate are vertically arranged on the upper side of the limit plate;

[0016] When the camera housing is not mounted on the mounting seat, the top plate extends upwardly out of the camera housing, the end of the horizontal section of the clamping plate is located in the insert block, and the upper end of the positioning plate is embedded in the horizontal section of the clamping plate;

[0017] When the camera housing is installed on the mounting seat, the upper surface of the camera housing is in contact with the lower surface of the mounting seat, the top plate moves downward and the upper end surface of the top plate is flush with the upper surface of the camera housing, the upper end of the positioning plate is separated from the horizontal section of the card plate, and the horizontal section of the card plate is located on the upper side of the bottom plate of the mounting seat and extends outward from the plug block.

[0018] Preferably, a second spring is provided between the limiting plate and the camera housing, and the second spring drives the limiting plate to move upward.

[0019] Through the above technical solution, the beneficial effects of the utility model are:

[0020] The utility model is provided with a lifting assembly, which is a parallelogram connecting rod structure. It can not only accurately control the position of the sampling rod, but also ensure that the sampling rod remains in a vertical state when lifting. The lifting power only needs to drive the weight of the sampling rod and the lifting assembly. The heavier crossbeam maintains a fixed height state. The power required for lifting is lower, which improves the lifting rate.

[0021] At the same time, the utility model is provided with a binocular camera at the upper end of the sampling rod, which realizes the positioning tracking of grain in the scene and the rapid scanning of spatial coordinates. The position, area and shape of the grain are analyzed according to the image obtained by the binocular camera, and the visual coordinate system and the spatial coordinate system are unified and converted into mechanical motion coordinates. Then, the sampling points are randomly and evenly generated according to the area of ​​the grain, and the sampling rod is directed to complete the sampling point by point according to the optimal route, which greatly improves the work efficiency and effectively avoids the risk of accidents in which the sampling rod is inserted outside the grain area or penetrates the bottom of the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural diagram of the utility model;

[0023] Figure 2 This is a structural sectional view of the utility model;

[0024] Figure 3 This is a schematic diagram of the assembly of the camera housing of the present invention;

[0025] Figure 4 For the utility model Figure 3 sectional view of

[0026] Figure 5 This is a structural diagram of the card board of the present utility model;

[0027] Figure 6 This is a structural diagram of the limit plate, top plate, and positioning plate of the utility model;

[0028] Among them: 1-column; 2-crossbeam; 3-sampling rod; 4-binocular camera; 5-rotating seat; 6-mounting seat; 7-upper rod; 8-lower rod; 9-electric push rod; 10-camera housing; 11-insertion block; 12-card plate; 13-first spring; 14-limiting plate; 15-top plate; 16-positioning plate; 17-second spring. DETAILED DESCRIPTION

[0029] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the embodiments described are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the utility model.

[0031] Example 1:

[0032] like Figures 1-6 As shown, a sampling machine based on binocular vision includes a column 1, a beam 2, a lifting assembly, a sampling rod 3 and a binocular camera 4. The column 1 and the sampling rod 3 are both vertically arranged, the beam 2 is laterally rotated and arranged at the upper end of the column 1, one end of the lifting assembly is connected to the end of the beam 2, and the other end is connected to the upper end of the sampling rod 3. The binocular camera 4 is arranged at the upper end of the sampling rod 3, and the shooting direction of the binocular camera 4 is vertically downward;

[0033] The lifting assembly includes a swivel seat 5, a mounting seat 6, an upper rod 7 and a lower rod 8. The swivel seat 5 is rotatably arranged on the upper side of the end of the beam 2. The sampling rod 3 and the binocular camera 4 are both installed on the lower side of the mounting seat 6. Both ends of the upper rod 7 and the lower rod 8 are hinged to the swivel seat 5 and the mounting seat 6 respectively. The upper rod 7 and the lower rod 8 are arranged in parallel. The swivel seat 5, the mounting seat 6, the upper rod 7 and the lower rod 8 form a parallelogram connecting rod structure.

[0034] An electric push rod 9 is provided between the lower rod 8 and the swivel seat 5. The electric push rod 9 drives the lower rod 8 to rotate. The fixed end of the electric push rod 9 is hinged to the lower part of the swivel seat 5, and the telescopic end of the electric push rod 9 extends upward and is hinged to the lower rod 8.

[0035] The lifting assembly is a parallelogram connecting rod structure, which can not only accurately control the position of the sampling rod 3, but also ensure that the sampling rod 3 remains in a vertical state when lifting. The lifting power only needs to drive the weight of the sampling rod 3 and the lifting assembly. The heavier beam 2 maintains a fixed height. The power required for lifting is lower, which increases the lifting rate.

[0036] At the same time, the utility model is provided with a binocular camera 4 at the upper end of the sampling rod 3. The binocular camera 4 realizes the positioning tracking of the grain in the scene and the rapid scanning of the spatial coordinates. The position, area and shape of the grain are analyzed according to the image obtained by the binocular camera 4, and the visual coordinate system and the spatial coordinate system are unified and converted into mechanical motion coordinates. Then, the sampling points are randomly and evenly generated according to the area of ​​the grain, and the sampling rod 3 is directed to complete the sampling point by point according to the optimal route, which greatly improves the work efficiency and effectively avoids the risk of accidents in which the sampling rod is inserted outside the grain area or penetrates the bottom of the car body.

[0037] In order to facilitate the quick installation and replacement of the binocular camera 4, a camera housing 10 is installed on the lower side of the mounting base 6, and the binocular camera 4 is installed in the camera housing 10;

[0038] A quick-connect structure is provided between the camera housing 10 and the mounting seat 6, and the quick-connect structure includes an insert block 11 and a card plate 12. The insert block 11 is provided on the top surface of the camera housing 10, and the bottom plate of the mounting seat 6 is provided with a slot, and the insert block 11 is embedded in the slot. The card plate 12 is laterally slidably provided on the insert block 11, and one end of the card plate 12 extends outward from the insert block 11 and is located on the upper side of the bottom plate of the mounting seat 6.

[0039] The card plate 12 is in the shape of ┐, and there are two card plates 12 set in mirror image. A first spring 13 is set between the two card plates 12. The two ends of the first spring 13 respectively press against the vertical sections of the two card plates 12. The first spring 13 drives the horizontal sections of the two card plates 12 to extend outward from the plug 11.

[0040] The quick-connect structure further includes a limit plate 14, which is longitudinally slidably disposed in the camera housing 10, and a top plate 15 and a positioning plate 16 are vertically disposed on the upper side of the limit plate 14;

[0041] When the camera housing 10 is not mounted on the mounting base 6, the top plate 15 passes upwardly out of the camera housing 10, the end of the horizontal section of the card plate 12 is located in the insert block 11, and the upper end of the positioning plate 16 is embedded in the horizontal section of the card plate 12;

[0042] When the camera housing 10 is installed on the mounting base 6, the upper surface of the camera housing 10 is in contact with the lower surface of the mounting base 6, the top plate 15 moves downward and the upper end surface of the top plate 15 is flush with the upper surface of the camera housing 10, the upper end of the positioning plate 16 is separated from the horizontal section of the card plate 12, and the horizontal section of the card plate 12 is located on the upper side of the bottom plate of the mounting base 6 and extends outward from the insert 11.

[0043] A second spring 17 is provided between the limiting plate 14 and the camera housing 10 , and the second spring 17 drives the limiting plate 14 to move upward.

[0044] The sampling machine also includes a data center for processing images captured by the binocular camera 4. The data center first filters out pixel values ​​close to the "grain yellow" color based on the image's HSV threshold. It then divides the pixel values ​​into continuous regions, selecting the largest region. The point cloud is clipped based on the coordinates of this region. The average depth value of the filtered data is then calculated. Based on this average value, the point cloud data is clipped again to obtain an optimized point cloud set. From this point cloud set, the center coordinates, vertex coordinates, rotation angle, and volume of the grain are calculated.

[0045] The HSV threshold used by the data center to filter out yellow grains must adapt to different lighting conditions. The database records multiple sets of HSV threshold data corresponding to different seasons, different weather conditions, and different time periods. The data center automatically selects the optimal solution based on the on-site conditions. The HSV threshold also corresponds to different grain varieties: corn, soybeans, wheat, and rice. The data center automatically selects the optimal solution based on the on-site conditions.

[0046] The data center randomly and evenly generates sampling points based on the final point cloud set, and directs the sampling rod 3 to reach the top of the sampling point. Before lowering the rod, it will once again confirm whether the expected lowering position is a "pure grain surface" to avoid the occurrence of lowering failure due to foreign matter on the grain surface or boundary errors.

[0047] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A sampling machine based on binocular vision, characterized in that: The sampling machine comprises a column (1), a crossbeam (2), a lifting assembly, a sampling rod (3) and a binocular camera (4); the column (1) and the sampling rod (3) are both arranged vertically; the crossbeam (2) is arranged to rotate laterally at the upper end of the column (1); one end of the lifting assembly is connected to the end of the crossbeam (2) and the other end is connected to the upper end of the sampling rod (3); the binocular camera (4) is arranged at the upper end of the sampling rod (3); and the shooting direction of the binocular camera (4) is vertically downward; The lifting assembly comprises a rotating seat (5), a mounting seat (6), an upper rod (7) and a lower rod (8); the rotating seat (5) is rotatably arranged on the upper side of the end of the crossbeam (2); the sampling rod (3) and the binocular camera (4) are both installed on the lower side of the mounting seat (6); both ends of the upper rod (7) and the lower rod (8) are respectively hinged to the rotating seat (5) and the mounting seat (6); the upper rod (7) and the lower rod (8) are arranged in parallel; the rotating seat (5), the mounting seat (6), the upper rod (7) and the lower rod (8) form a parallelogram connecting rod structure.

2. A binocular vision-based sampling machine according to claim 1, characterized in that: An electric push rod (9) is provided between the lower rod (8) and the rotating seat (5), and the electric push rod (9) drives the lower rod (8) to rotate. The fixed end of the electric push rod (9) is hinged to the lower part of the rotating seat (5), and the telescopic end of the electric push rod (9) extends upward and is hinged to the lower rod (8).

3. The binocular vision-based sampling machine according to claim 1, characterized in that: A camera housing (10) is installed on the lower side of the mounting seat (6), and the binocular camera (4) is installed in the camera housing (10); A quick-connect structure is provided between the camera housing (10) and the mounting seat (6), the quick-connect structure comprising an insert block (11) and a card plate (12), the insert block (11) being provided on the top surface of the camera housing (10), the bottom plate of the mounting seat (6) being provided with a slot, the insert block (11) being engaged in the slot, the card plate (12) being laterally slidably provided on the insert block (11), one end of the card plate (12) extending outward from the insert block (11) and being located on the upper side of the bottom plate of the mounting seat (6).

4. A binocular vision-based sampling machine according to claim 3, characterized in that: The card plate (12) is in the shape of ┐. The card plates (12) are two mirror-imaged. A first spring (13) is provided between the two card plates (12). Both ends of the first spring (13) respectively abut against the vertical sections of the two card plates (12). The first spring (13) drives the horizontal sections of the two card plates (12) to extend outwards to insert the blocks (11).

5. The binocular vision-based sampling machine according to claim 4, characterized in that: The quick-connect structure further comprises a limit plate (14), the limit plate (14) being longitudinally slidably arranged in the camera housing (10), and a top plate (15) and a positioning plate (16) being vertically arranged on the upper side of the limit plate (14); When the camera housing (10) is not mounted on the mounting seat (6), the top plate (15) passes through the camera housing (10) upward, the end of the horizontal section of the card plate (12) is located in the insert block (11), and the upper end of the positioning plate (16) is embedded in the horizontal section of the card plate (12); When the camera housing (10) is mounted on the mounting seat (6), the upper surface of the camera housing (10) is in contact with the lower surface of the mounting seat (6), the top plate (15) moves downward and the upper end surface of the top plate (15) is flush with the upper surface of the camera housing (10), the upper end of the positioning plate (16) is separated from the horizontal section of the card plate (12), and the horizontal section of the card plate (12) is located on the upper side of the bottom plate of the mounting seat (6) and extends outward from the plug block (11).

6. The binocular vision-based sampling machine according to claim 5, characterized in that: A second spring (17) is provided between the limiting plate (14) and the camera housing (10), and the second spring (17) drives the limiting plate (14) to move upward.

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