Autonomous sensing experiment device for composite robot

Abstract

The utility model belongs to the technical field of visual experiment devices, and particularly relates to a composite robot autonomous perception experiment device which comprises an experiment platform, a CCD camera, an annular light source and a supporting plate. A moving seat; a mounting rack; the overhanging plate is fixed on the outer wall of the mounting frame; the magnifying lens is hinged to the top of the overhanging plate; a driving mechanism; the fixing frame is fixed on the top surface of the experiment platform; the rotating cross beam is rotationally connected to the fixing frame; the rotating disc is fixed on the rotating cross beam; an electric sucker; a second driving motor; according to the utility model, the distance between the CCD camera and the electric sucker can be adjusted through the driving mechanism, the visual performance of the CCD camera at different distances can be tested, the magnifying lens is designed in an overturning manner, the visual performance of the CCD camera can be tested when the magnifying lens is used and not used, and the experimental result is closer to the real visual performance of the CCD camera.

Description

Technical Field

[0001] This utility model belongs to the field of visual experimental device technology, specifically relating to a composite robot autonomous perception experimental device. Background Technology

[0002] Robot autonomous perception refers to the ability of a robot to acquire environmental information through internal or external sensors, and to analyze and understand it. This technology enables robots to make decisions and perform tasks without human intervention, achieving true autonomous action.

[0003] Autonomous perception in robots mainly includes visual perception technology, sound perception technology, and tactile perception technology. Among these, visual perception technology has a wide range of applications in industrial production. Machine vision is a rapidly developing branch of artificial intelligence. Simply put, machine vision uses machines to replace human eyes for measurement and judgment. A machine vision system uses machine vision products (i.e., image acquisition devices, which are divided into CMOS and CCD types) to convert the captured target into image signals, which are then transmitted to a dedicated image processing system to obtain the shape information of the captured target. Based on pixel distribution, brightness, color, and other information, the data is converted into digital signals. The image system performs various calculations on these signals to extract the features of the target, and then controls the actions of the equipment on site based on the judgment results.

[0004] Before a machine vision system can be put into use, its visual performance needs to be tested. Currently, there are many different and similar experimental platforms on the market.

[0005] Through long-term experimental work, it has been found that although the existing experimental platform can meet general testing needs, the position of the CCD camera component is not adjustable, that is, the distance between the CCD camera component and the object under test cannot be adjusted, making it difficult to fully test the visual performance of the CCD camera component and resulting in high limitations in its use.

[0006] To address the aforementioned problems, this invention proposes a composite robot autonomous perception experimental device. Utility Model Content

[0007] To address the aforementioned problems in the existing technology, this utility model provides a composite robot autonomous perception experimental device, which is convenient to use, easy to adjust, and has high testing accuracy.

[0008] To achieve the above objectives, this utility model provides the following technical solution: a composite robot autonomous perception experimental device, comprising an experimental platform, a CCD camera, and a ring light source, and further comprising:

[0009] A support plate, which is fixed above the experimental platform;

[0010] A movable seat, which is movably positioned on top of the support plate;

[0011] Mounting bracket, which is fixed to the top of the movable base, wherein the CCD camera and the ring light source are both fixed on the mounting bracket, and the CCD camera is facing the ring light source;

[0012] A cantilever plate, the cantilever plate being fixed to the outer wall of the mounting frame;

[0013] A magnifying glass, which is hinged to the top of the cantilever plate;

[0014] A drive mechanism is drivably connected to the movable base for driving the movable base to move;

[0015] A mounting bracket is fixed to the top surface of the experimental platform;

[0016] A rotating beam, which is rotatably connected to the fixed frame;

[0017] A rotating disk, which is fixed to the rotating crossbeam;

[0018] An electric suction cup, wherein multiple electric suction cups are fixed at equal intervals along the circumference of the outer wall of the rotating disk, and when the electric suction cup rotates to the top, it faces the CCD camera;

[0019] The second drive motor is fixed on the fixed frame and is used to drive the rotating beam to rotate.

[0020] As a preferred embodiment of this utility model, the driving mechanism includes:

[0021] Two fixing plates are symmetrically fixed to the top surface of the support plate;

[0022] A threaded screw is rotatably mounted between the two fixed plates, and the threaded screw passes through the movable seat and is connected to the movable seat by a threaded engagement.

[0023] A first drive motor is fixed to the outer wall of the fixed plate and is used to drive the threaded screw to rotate.

[0024] As a preferred embodiment of this utility model, the driving mechanism further includes:

[0025] Two guide rods are symmetrically fixed between the two fixed plates, and the guide rods pass through the movable seat.

[0026] As a preferred embodiment of this utility model, the top surface of the support plate has scale lines.

[0027] As a preferred technical solution of this utility model, it also includes:

[0028] The support plate is fixed above the experimental platform by four diagonally distributed support columns.

[0029] As a preferred technical solution of this utility model, it also includes:

[0030] The first magnetic absorbing piece is bonded and fixed to the top surface of the cantilever plate;

[0031] The second magnetic locator is bonded and fixed to the bottom surface of the magnifying glass. When the magnifying glass is rotated to a vertical position, the second magnetic locator attracts the first magnetic locator.

[0032] As a preferred embodiment of this utility model, the mounting bracket includes:

[0033] Base plate;

[0034] The first upright plate is fixed to the top surface of the base plate, and a support plate is fixed to the top of the first upright plate, and the CCD camera is fixed to the support plate.

[0035] The second upright plate is fixed to the top surface of the base plate and located on one side of the first upright plate. A fixing ring is fixed to the top of the second upright plate, and the ring light source is fixed to the fixing ring.

[0036] As a preferred embodiment of this utility model, the mounting bracket further includes:

[0037] An I-shaped retainer is fixed to the inner space of the first upright plate and the second upright plate.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] In this invention, the distance between the CCD camera and the electric suction cup can be adjusted by the set driving mechanism, which can test the visual performance of the CCD camera at different distances. In addition, the magnifying glass is a flip-type design, which can test the visual performance of the CCD camera with and without the magnifying glass. The experimental results are closer to the real visual performance of the CCD camera.

[0040] Other additional advantages and beneficial effects of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this invention. Attached Figure Description

[0041] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0042] Figure 1 It is a structural diagram of the utility model;

[0043] Figure 2 For this utility model Figure 1 A in the figure shows the enlarged structural diagram;

[0044] Figure 3 This is a schematic diagram of the isometric structure of the mounting bracket in this utility model.

[0045] In the diagram: 1. Experimental platform; 2. Support plate; 21. Scale line; 3. Support column; 4. Movable seat; 5. Mounting frame; 51. Base plate; 52. First upright plate; 53. Support plate; 54. Second upright plate; 55. Fixing ring; 56. I-shaped retainer; 6. CCD camera; 7. Ring light source; 8. Overhang plate; 81. First magnetic chuck; 9. Magnetic lens; 91. Second magnetic chuck; 10. Drive mechanism; 101. Fixing plate; 102. Threaded screw; 103. First drive motor; 104. Guide rod; 11. Fixing frame; 12. Rotating beam; 13. Rotating disk; 14. Electric suction cup; 15. Second drive motor. Detailed Implementation

[0046] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0047] Please see Figure 1-Figure 3 The present invention provides the following technical solution: a composite robot autonomous perception experimental device, including an experimental platform 1, a CCD camera 6 and a ring light source 7, and further including: a support plate 2, a movable seat 4, a mounting frame 5, a cantilever plate 8, a magnifying glass 9, a drive mechanism 10, a fixed frame 11, a rotating crossbeam 12, a rotating disk 13, an electric suction cup 14 and a second drive motor 15.

[0048] Furthermore, by Figure 1As shown, in this embodiment, the support plate 2 is fixed above the experimental platform 1, the movable seat 4 is movably placed on top of the support plate 2, the mounting frame 5 is fixed to the top of the movable seat 4, the CCD camera 6 and the ring light source 7 are both fixed on the mounting frame 5, and the CCD camera 6 faces the ring light source 7. The cantilever plate 8 is fixed to the outer wall of the mounting frame 5, the magnifying glass 9 is hinged to the top of the cantilever plate 8, the drive mechanism 10 is drivably connected to the movable seat 4 for driving the movable seat 4 to move, and the fixed frame 11 is fixed to the top surface of the experimental platform 1. The rotating beam 12 is rotatably connected to the fixed frame 11, and the rotating disk 13 is fixed on the rotating beam 12. Multiple electric suction cups 14 are fixed at equal intervals along the circumference of the rotating disk 13. When the electric suction cup 14 rotates to the top, it faces the CCD camera 6. The second drive motor 15 is fixed on the fixed frame 11 and is used to drive the rotating beam 12 to rotate. With the above scheme, when using it, the magnifying glass 9 is rotated so that it is offset from the CCD camera 6, and different electric suction cups 14 are used to fix different objects to be tested. The CCD camera 6 is connected to a dedicated image processing system. Images of the object under test are captured by the CCD camera 6 and uploaded to the image processing system for testing. Then, the second drive motor 15 is activated to drive the rotating beam 12 to rotate, causing the rotating disk 13 to rotate. Different objects under test are positioned facing the CCD camera 6, and multiple sets of experiments are performed sequentially. After the experiment, the magnifying glass 9 is rotated to a vertical position, now facing the CCD camera 6, and the experiment is repeated with the object under test. After the experiment, the drive mechanism 10 is activated to move the moving seat 4, adjusting the distance between the CCD camera 6 and the object under test. The visual performance of the CCD camera 6 is then tested with and without the magnifying glass 9. This invention, through the drive mechanism 10, can adjust the distance between the CCD camera 6 and the electric suction cup 14, allowing for testing of the visual performance of the CCD camera 6 at different distances. Furthermore, the magnifying glass 9 has a flip-type design, enabling testing of the visual performance of the CCD camera 6 with and without the magnifying glass 9. The experimental results are closer to the true visual performance of the CCD camera 6.

[0049] It should be noted that the electric suction cup 14 is a commercially available conventional device. It uses the vacuum principle to achieve the adsorption function through the internally integrated motor and air pump and other mechanical equipment. Its internal structure and operating principle are existing technologies that have been disclosed, and will not be described in detail here.

[0050] Optionally, by Figure 1As shown, in this embodiment, the drive mechanism 10 includes: a fixed plate 101, a threaded screw 102, and a first drive motor 103. The two fixed plates 101 are symmetrically fixed to the top surface of the support plate 2. The threaded screw 102 is rotatably installed between the two fixed plates 101 and passes through the movable seat 4 and is connected to the movable seat 4 by a threaded engagement. The first drive motor 103 is fixed to the outer wall of the fixed plate 101 and is used to drive the threaded screw 102 to rotate. With the above scheme, when in use, the first drive motor 103 is started to drive the threaded screw 102 to rotate. Under the threaded engagement, the movable seat 4 drives the mounting frame 5 to move, and then drives the CCD camera 6 and the ring light source 7 to move, adjusting the distance between the CCD camera 6 and the electric suction cup 14.

[0051] Preferably, by Figure 1 As shown in this embodiment, the drive mechanism 10 further includes a guide rod 104. The two guide rods 104 are symmetrically fixed between the two fixed plates 101, and the guide rods 104 pass through the movable seat 4. With the above solution, the two guide rods 104 are used to guide the movable seat 4 during use, which improves the stability of the movable seat 4.

[0052] Preferably, by Figure 1 As shown in this embodiment, the top surface of the support plate 2 has a scale line 21. With the above solution, the moving length of the moving seat 4 can be easily determined by the scale line 21 during use, ensuring that the experimental results are more accurate.

[0053] Preferably, by Figure 1 As shown, in this embodiment, it also includes: support columns 3. The support plate 2 is supported and fixed above the experimental platform 1 by four support columns 3 distributed diagonally, which ensures the stability of the support plate 2 installation.

[0054] Preferably, by Figure 1 and Figure 2 As shown, this embodiment also includes: a first magnetic absorbing piece 81 and a second magnetic absorbing piece 91. The first magnetic absorbing piece 81 is bonded and fixed to the top surface of the cantilever plate 8, and the second magnetic absorbing piece 91 is bonded and fixed to the bottom surface of the magnifying glass 9. When the magnifying glass 9 is rotated to a vertical position, the second magnetic absorbing piece 91 and the first magnetic absorbing piece 81 attract each other to ensure the stability of the magnifying glass 9 when it is rotated to a vertical position.

[0055] Optionally, by Figure 1 and Figure 3As shown, in this embodiment, the mounting bracket 5 includes: a base plate 51, a first upright plate 52, and a second upright plate 54. The first upright plate 52 is fixed to the top surface of the base plate 51, and a support plate 53 is fixed to the top of the first upright plate 52. The CCD camera 6 is fixed to the support plate 53. The second upright plate 54 is fixed to the top surface of the base plate 51 and is located on one side of the first upright plate 52. A fixing ring 55 is fixed to the top of the second upright plate 54, and a ring light source 7 is fixed to the fixing ring 55. With the above scheme, in use, the CCD camera 6 is fixed to the support plate 53 with bolts, and the ring light source 7 is fixed to the fixing ring 55 with bolts. The CCD camera 6 faces the ring light source 7, and the ring light source 7 is used for auxiliary lighting.

[0056] Preferably, by Figure 1 and Figure 3 As shown in this embodiment, the mounting bracket 5 further includes an I-shaped retainer 56, which is fixed to the inner space of the first upright plate 52 and the second upright plate 54 with bolts. With the above solution, the I-shaped retainer 56 further improves the stability of the first upright plate 52 and the second upright plate 54 during use.

[0057] It should be noted that the No. 1 drive motor 103, the electric suction cup 14, and the No. 2 drive motor 15 are all commercially available conventional devices with built-in power switches. Those skilled in the art can make conventional selections according to their needs. Their working principles are common knowledge known to those skilled in the art and have been fully disclosed in the prior art, so they will not be elaborated on further in this article.

[0058] The circuit connection involved in this utility model is a common method used by those skilled in the art, and technical inspiration can be obtained through a limited number of experiments. It belongs to the widely used prior art.

[0059] Components not described in detail in this article are existing technologies.

[0060] The working principle and usage process of this utility model: When using the experimental device of this utility model, rotate the magnifying glass 9 to make the magnifying glass 9 deviate from the CCD camera 6, fix different test objects using different electric suction cups 14, and connect the CCD camera 6 to a dedicated image processing system. The CCD camera 6 takes images of the test objects and uploads them to the image processing system for testing.

[0061] Then, the second drive motor 15 is started to drive the rotating beam 12 to rotate, so that the rotating disk 13 rotates, and different test objects are aligned with the CCD camera 6, and multiple sets of experiments are carried out in sequence.

[0062] After the experiment is completed, rotate the magnifying glass 9 to a vertical position. At this time, the magnifying glass 9 is facing the CCD camera 6, and the experiment is carried out on the test object again.

[0063] After the experiment is completed, the drive mechanism 10 is started to drive the moving seat 4 to move, the distance between the CCD camera 6 and the object to be tested is adjusted, and then the visual performance of the CCD camera 6 is tested with and without the magnifying glass 9.

[0064] This invention allows for adjustment of the distance between the CCD camera 6 and the electric suction cup 14 via a drive mechanism 10, enabling testing of the visual performance of the CCD camera 6 at different distances. Furthermore, the magnifying glass 9 is a flip-type design, allowing for testing of the visual performance of the CCD camera 6 with and without the magnifying glass 9. The experimental results are closer to the true visual performance of the CCD camera 6.

[0065] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A composite robot autonomous perception experimental device, comprising an experimental platform (1), a CCD camera (6), and a ring light source (7), characterized in that, Also includes: Support plate (2), the support plate (2) is fixed above the experimental platform (1); A movable seat (4) is movably positioned on top of the support plate (2); Mounting bracket (5), which is fixed to the top of the movable base (4), and the CCD camera (6) and the ring light source (7) are both fixed on the mounting bracket (5), with the CCD camera (6) facing the ring light source (7). The cantilever plate (8) is fixed to the outer wall of the mounting frame (5); A magnifying glass (9) is hinged to the top of the overhang plate (8); A drive mechanism (10) is drivably connected to the movable seat (4) for driving the movable seat (4) to move; A fixing frame (11) is fixed to the top surface of the experimental platform (1); A rotating beam (12) is rotatably connected to the fixed frame (11). A rotating disk (13) is fixed on the rotating beam (12); Electric suction cups (14), multiple electric suction cups (14) are fixed at equal intervals along the circumferential direction to the outer wall of the rotating disk (13), and when the electric suction cups (14) rotate to the top, they face the CCD camera (6). The second drive motor (15) is fixed on the fixed frame (11) and is used to drive the rotating beam (12) to rotate.

2. The experimental device for autonomous perception of a composite robot according to claim 1, characterized in that: The drive mechanism (10) includes: Fixing plates (101), two of the fixing plates (101) are symmetrically fixed to the top surface of the support plate (2); A threaded screw (102) is rotatably mounted between two fixed plates (101), and the threaded screw (102) passes through the movable seat (4) and is connected to the movable seat (4) by means of thread engagement; A first drive motor (103) is fixed to the outer wall of the fixed plate (101) and is used to drive the threaded screw (102) to rotate.

3. The experimental device for autonomous perception of a composite robot according to claim 2, characterized in that: The drive mechanism (10) further includes: Guide rods (104), two guide rods (104) are symmetrically fixed between two fixed plates (101), and the guide rods (104) pass through the movable seat (4).

4. The experimental device for autonomous perception of a composite robot according to claim 1, characterized in that: The top surface of the support plate (2) has scale lines (21).

5. The experimental device for autonomous perception of a composite robot according to claim 1, characterized in that: Also includes: The support column (3) and the support plate (2) are supported and fixed above the experimental platform (1) by four diagonally distributed support columns (3).

6. The experimental device for autonomous perception of a composite robot according to claim 1, characterized in that: Also includes: A first magnetic absorbing piece (81) is bonded and fixed to the top surface of the cantilever plate (8); The second magnetic locator (91) is bonded and fixed to the bottom surface of the magnifying glass (9). When the magnifying glass (9) is rotated to a vertical position, the second magnetic locator (91) attracts the first magnetic locator (81).

7. The experimental device for autonomous perception of a composite robot according to claim 1, characterized in that: The mounting bracket (5) includes: Base plate (51); The first upright plate (52) is fixed to the top surface of the base plate (51), and a support plate (53) is fixed at the top of the first upright plate (52). The CCD camera (6) is fixed on the support plate (53). The second upright plate (54) is fixed to the top surface of the base plate (51) and located on one side of the first upright plate (52). A fixing ring (55) is fixed at the top of the second upright plate (54), and the ring light source (7) is fixed on the fixing ring (55).

8. The experimental device for autonomous perception of a composite robot according to claim 7, characterized in that: The mounting bracket (5) also includes: I-shaped retainer (56), which is fixed to the inner space of the first upright plate (52) and the second upright plate (54).

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