Projection attitude detection device capable of rapidly measuring

Abstract

The utility model discloses a projection attitude detection device capable of rapidly measuring, which belongs to the technical field of detection devices and comprises a device shell, a bolt type sealing cover, a double-elbow bolt, a tray assembly, a measuring device, a first positioning hole, a second positioning hole, a peephole and a cross-shaped notch. According to the mode, the plug pin type sealing cover can be rapidly disassembled and assembled through the double-elbow plug pin, fruits can be conveniently placed, the projection angle is obtained through reading of the protractor, accurate measurement of the projection angle is achieved, then the fruit attitude angle defined by the line-plane angle is indirectly solved through the conversion formula of the projection angle and the line-plane angle, and the fruit attitude angle can be accurately measured. The method is helpful to discover problems existing in the fruit attitude estimation algorithm, so that the fruit attitude estimation algorithm is optimized, and the performance of the picking robot is promoted to be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to detection device technical field, concretely relates to a projection posture detection device of quick measurement. BACKGROUND

[0002] The picking action of the picking robot depends on the detection and positioning of the visual detection system, and the fruit posture (the orientation, angle, spatial position, etc. of the fruit) is important information for vision. After the picking robot collects the fruit posture, a fruit posture estimation algorithm is used to plan the movement and grasping mode of the mechanical arm. Therefore, during the operation of the picking robot, accurately perceiving the posture of the fruit is extremely critical for the robot to plan the picking action.

[0003] However, since the fruit grows in a complex natural environment, there are branches and leaves around to block, the shape of the fruit itself is irregular, and different varieties of fruit have large differences in characteristics, making direct measurement very difficult. The positional relationship between the fruit and the branches on the fruit tree is very complex, and during the picking process, the robot often holds the fruit and branches together with the mechanical claw, causing damage to the fruit and branches, and even damaging the robot.

[0004] Therefore, the current technology has the following problems: it cannot determine the accuracy of the fruit posture measurement result of the fruit posture estimation algorithm used by the picking robot, and there is a phenomenon of incorrect estimation of the fruit posture.

[0005] Based on this, the utility model designs a projection posture detection device that can quickly measure to solve the above problems. CONTENT OF THE UTILITY MODEL

[0006] In view of the above shortcomings of the prior art, the utility model provides a projection posture detection device that can quickly measure.

[0007] To achieve the above purpose, the utility model is implemented by the following technical solutions:

[0008] A projection posture detection device that can quickly measure, comprising a device shell, a plug-in seal cover, a double-bend plug, a tray assembly, and a measuring device.

[0009] The front side of the device shell is provided with four first positioning holes, and the four first positioning holes are located around the front end of the device shell. The plug-in seal cover is provided with four second positioning holes around the four first positioning holes, and the first positioning holes and the second positioning holes are inserted with the double-bend plug.

[0010] The front side of the device shell is detachably connected to the plug-in seal cover through the double-bend plug. The tray assembly is installed at the inner bottom of the device shell, and the measuring device is connected to the device shell.

[0011] The cross slot is arranged on the side wall of the device shell.

[0012] The measuring device comprises a projection lamp, a projection lamp battery, a protractor and a foot stand, the projection lamp is fixedly connected with the foot stand, the foot stand is slidably connected with the inside of the cross slot, the projection lamp battery is fixedly installed on the outer end side wall of the device shell, the power supply end of the projection lamp battery is electrically connected with the power transmission end of the projection lamp, and the protractor is fixedly installed on the inside of the device shell and opposite to the position of the projection lamp.

[0013] Further, the device shell is a cube.

[0014] Further, the tray assembly comprises a fruit tray and a support frame, the support frame is provided with two and is fixedly installed on the left and right sides of the lower end of the fruit tray, and the lower ends of the two support frames are fixedly connected with the inner bottom of the device shell through two bolts.

[0015] Further, the projection lamp, the foot stand and the cross slot are all provided with three and are located on three faces of the device shell.

[0016] Further, the device shell is provided with a peephole on each of the three faces provided with the cross slot.

[0017] Further, the peephole on each face is provided with a plurality of and is located around the cross slot.

[0018] Further, the projection lamp battery is provided with three and is located on the outer end side wall of the device shell, and the power supply ends of the three projection lamp batteries are electrically connected with the power transmission ends of the three projection lamps.

[0019] Further, the protractor is provided with three and is located on three faces inside the device shell, and the three projection lamps are arranged on the opposite faces of the device shell.

[0020] Compared with the prior art, the utility model has the advantages that: when the utility model is used, the plug-in type cover is taken off, the fruit is placed on the fruit tray, and then the plug-in type cover is closed through the double-bend plug-in, the utility model realizes the quick disassembly and assembly of the plug-in type cover through the double-bend plug-in, and the fruit is conveniently placed.

[0021] Then, the position of the projection lamp is adjusted, the end point of the fruit axis projection is coincided with the center point of the protractor, the angle is measured, the projection angle is obtained through the protractor reading, and the accurate measurement of the projection angle is realized.

[0022] By using the conversion formula of the projection angle and the line-plane angle, the line-plane angle is indirectly solved as the defined fruit posture angle, and the calculation result of the fruit posture angle is compared with the fruit posture angle calculated by the fruit posture estimation algorithm of the picking robot, so that the accuracy and reliability of the fruit posture estimation algorithm can be verified, problems existing in the fruit posture estimation algorithm can be found, and the fruit posture estimation algorithm can be optimized, the precision of the fruit posture detection of the picking robot is improved, and the performance of the picking robot is promoted. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. 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 on the basis of these drawings.

[0024] Figure 1 A perspective view of the projection posture detection device capable of rapid measurement of the present application Figure One ;

[0025] Figure 2 A front view of the projection posture detection device capable of rapid measurement of the present application

[0026] Figure 3 A perspective view of the projection posture detection device capable of rapid measurement of the present application Figure Two ;

[0027] Figure 4 A perspective view of the projection posture detection device capable of rapid measurement of the present application Figure One ;

[0028] Figure 5 A perspective view of the projection posture detection device capable of rapid measurement of the present application Figure Two ;

[0029] Figure 6 A perspective view of the projection posture detection device capable of rapid measurement of the present application

[0030] The numbers in the drawings represent:

[0031] 1, device shell; 2, plug-in cover; 3, double-bend plug; 4, first positioning hole; 5, second positioning hole; 6, tray assembly; 61, fruit tray; 62, support frame; 7, measuring device; 71, projection lamp; 72, projection lamp battery; 73, protractor; 74, foot stand; 8, peephole; 9, cross slot. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0033] In the following description, "left", "right", "front", "rear", "upper", "lower" are oriented with the perspective of the front view.

[0034] Embodiment one: in some embodiments, referring to the drawings of the specification Figures 1-6 A projection posture detection device capable of rapid measurement, comprising a device shell 1, a plug type cover 2, a double elbow plug 3, a tray assembly 6 and a measuring device 7.

[0035] The front side of the device shell 1 is provided with four first positioning holes 4, which are respectively located at the four corners of the front end of the device shell 1, and the plug type cover 2 is provided with four second positioning holes 5 at the four corners, which are matched with the four first positioning holes 4, and the first positioning hole 4 and the second positioning hole 5 are inserted with the double elbow plug 3.

[0036] The front side of the device shell 1 is detachably connected with the plug type cover 2 through the double elbow plug 3, the tray assembly 6 is installed at the inner bottom of the device shell 1, and the measuring device 7 is connected with the device shell 1.

[0037] Effect: the utility model through the convenient and fast double elbow plug 3, realized the quick closing and opening of plug type cover 2, greatly improved the operation efficiency;

[0038] The sidewall of the device shell 1 is provided with a cross slot 9.

[0039] The measuring device 7 comprises a projection lamp 71, a projection lamp battery 72, a protractor 73 and a foot stand 74, the projection lamp 71 is fixedly connected with the foot stand 74, the foot stand 74 is slidably connected with the inside of the cross slot 9, the projection lamp battery 72 is fixedly installed on the outer end sidewall of the device shell 1, the power supply end of the projection lamp battery 72 is electrically connected with the power transmission end of the projection lamp 71, and the protractor 73 is fixedly installed in the inside of the device shell 1 and opposite to the position of the projection lamp 71.

[0040] Preferably, the projection lamp 71 light source is concentrated, the shadow projected is clear and obvious, and the protractor 73 can accurately read the number when measuring.

[0041] The utility model discloses a fruit posture measurement device, including device shell 1, fruit tray 61, support frame 62, projection lamp 71, foot stand 74, cross slot 9 and angle gauge 73, wherein, device shell 1 is square.

[0042] Then adjust the position of the projection lamp 71, so that the end point of the fruit axis projection coincides with the center point of the protractor 73, and the protractor 73 can accurately read during measurement. By reading the protractor 73, the projection angle is obtained, and the accurate measurement of the projection angle is realized.

[0043] Then, using the conversion formula of the projection angle and the linear-angular angle, the linear-angular angle defined as the fruit posture angle is indirectly solved. By comparing the calculation result of the fruit posture angle with the fruit posture angle calculated by the fruit posture estimation algorithm of the picking robot, the accuracy and reliability of the fruit posture estimation algorithm can be verified. This helps to find problems in the fruit posture estimation algorithm, and then optimizes the fruit posture estimation algorithm to improve the accuracy of fruit posture detection of the picking robot and promote the performance improvement of the picking robot.

[0044] The device shell 1 is a square.

[0045] Effect: The device shell 1 provides a stable and standardized measurement environment for the fruit, protects the fruit from physical damage during measurement, and improves the accuracy of measurement.

[0046] The tray assembly 6 includes a fruit tray 61 and a support frame 62, the support frame 62 is provided with two and is respectively fixedly installed on the left and right sides of the lower end of the fruit tray 61, and the lower ends of the two support frames 62 are respectively fixedly connected with the inner bottom of the device shell 1 through two bolts.

[0047] Effect: The fruit tray 61 and the support frame 62 are fixed on the inner bottom surface of the device shell 1 by screws, and the screw holes are punched on the bottom of the support frame 62, which provides a guarantee for the stability of the fruit during measurement and provides a reliable data basis for indirectly solving the fruit posture angle defined by the linear-angular angle conversion formula.

[0048] The projection lamp 71, foot stand 74 and cross slot 9 are each provided with three and are respectively located on three faces of the device shell 1.

[0049] The device shell 1 is provided with a peephole 8 on each of the three faces provided with the cross slot 9.

[0050] Each of the peepholes 8 on each face is provided with a plurality of and is respectively located around the cross slot 9.

[0051] Effect: While facilitating reading of the angle value of the protractor 73, the posture and state of the fruit can be observed through the peephole 8.

[0052] The three projection lamp batteries 72 are arranged on the outer end side wall of the device shell 1, and the power supply ends of the three projection lamp batteries 72 are electrically connected with the power supply ends of the three projection lamps 71 respectively.

[0053] The three protractors 73 are arranged on the three faces inside the device shell 1 respectively, and the three protractors 73 are arranged on the opposite faces of the device shell 1 respectively.

[0054] When the latch type cover 2 is closed with the device shell 1, a pair of first positioning holes 4 on the upper side of the front end of the device shell 1 is aligned with a pair of second positioning holes 5 on the upper side of the latch type cover 2, and the two ends of the double-bend latch 3 are inserted into the first positioning hole 4 and the second positioning hole 5 to realize the fixation of the latch type cover 2 with the device shell 1.

[0055] When the latch type cover 2 is opened with the device shell 1, the double-bend latch 3 is taken out from the first positioning hole 4 and the second positioning hole 5 on the upper side, the device shell 1 is moved downward, so that a pair of first positioning holes 4 on the upper side of the front end of the device shell 1 is aligned with a pair of second positioning holes 5 on the lower side of the latch type cover 2, and the double-bend latch 3 is inserted into the first positioning hole 4 and the second positioning hole 5 on the lower side to realize the fixation, and the quick closure of the latch type cover 2 is realized through the convenient and quick double-bend latch 3, and the operation efficiency is greatly improved.

[0056] When the fruit projection is acquired, the fruit is placed on the fruit tray 61, the projection lamp 71 is turned on to project light, the fruit shadow projection is formed on the other inner surface opposite to the projection lamp 71, the protractor 73 is arranged on the other inner surface, then the position of the projection lamp 71 is moved through the foot support 74, so that the end point of the fruit axis projection is coincided with the center point of the protractor 73, the angle measurement is performed, and thus the first group of projection angles is obtained.

[0057] The above steps are repeated to obtain the second group of projection angles and the third group of projection angles respectively, and then the projection angle and the line-surface angle conversion formula are used to indirectly solve the fruit posture angle of multiple angles, which is helpful to find out the problems existing in the fruit posture estimation algorithm, and then the fruit posture estimation algorithm is optimized, the precision of the fruit posture detection of the picking robot is improved, and the performance of the picking robot is promoted.

[0058] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced equivalently; and these modifications or replacements will not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A projection attitude detection device capable of fast measurement, characterized in that: It comprises device shell (1), latch type cover (2), double elbow latch (3), tray assembly (6) and measuring device (7); The front side of the device shell (1) is provided with four first positioning holes (4), which are respectively located at the four corners of the front end of the device shell (1). The four corners of the latch type cover (2) are provided with four second positioning holes (5) matched with the four first positioning holes (4). The first positioning hole (4) and the second positioning hole (5) are inserted with the double elbow latch (3); The front side of the device shell (1) is detachably connected with the latch type cover (2) through the double elbow latch (3). The tray assembly (6) is installed at the inner bottom of the device shell (1), and the measuring device (7) is connected with the device shell (1); The sidewall of the device shell (1) is provided with a cross slot (9); The measuring device (7) comprises a projection lamp (71), a projection lamp battery (72), a protractor (73) and a foot support (74). The projection lamp (71) is fixedly connected with the foot support (74), the foot support (74) is slidably connected with the inside of the cross slot (9), the projection lamp battery (72) is fixedly installed on the outer end sidewall of the device shell (1), the power supply end of the projection lamp battery (72) is electrically connected with the power transmission end of the projection lamp (71), and the protractor (73) is fixedly installed in the device shell (1) and opposite to the projection lamp (71).

2. The rapidly measurable projection attitude detection device according to claim 1, characterized in that The device shell (1) is a cube.

3. The rapid-measurable projection attitude detecting device according to claim 1, wherein The tray assembly (6) comprises a fruit tray (61) and a support frame (62). The support frame (62) is provided with two and is fixedly installed on the left and right sides of the lower end of the fruit tray (61). The lower ends of the two support frames (62) are fixedly connected with the inner bottom of the device shell (1) through two bolts.

4. The rapid-measurable projection attitude detecting device according to claim 1, wherein The projection lamp (71), the foot support (74) and the cross slot (9) are each provided with three and are respectively located on three faces of the device shell (1).

5. The rapidly measurable projection attitude detection device according to claim 4, characterized in that The device shell (1) is provided with a peephole (8) on each of the three faces provided with the cross slot (9).

6. The rapidly measurable projection attitude detection device according to claim 5, characterized in that Each of the peepholes (8) on each face is provided with a plurality of and is respectively located at the four corners of the cross slot (9).

7. The rapid-measurable projection attitude detecting device according to claim 1, wherein The projection lamp battery (72) is provided with three and is located on the outer end sidewall of the device shell (1). The power supply ends of the three projection lamp batteries (72) are respectively electrically connected with the power transmission ends of the three projection lamps (71).

8. The rapidly measurable projection attitude detection device according to claim 7, characterized in that The protractor (73) is provided with three and is respectively located on three faces inside the device shell (1). The three projectors (73) and the three projectors (71) are respectively arranged on the opposite faces of the device shell (1).

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