CN108082830A - A kind of Omni-mobile delivery platform of view-based access control model analysis - Google Patents

Abstract

The invention discloses an omnidirectional mobile transmission platform based on visual analysis, which includes a visual collection system (including RGBD camera, depth camera or panoramic camera, etc.) and a gear transmission platform; the visual collection system is used for visual analysis and controls omnidirectional The transportation direction of the transmission platform; the gear transmission platform is composed of many mobile transmission plates and gear transmission units; the gear transmission unit is connected to the mobile transmission plate and drives the plate to transport in all directions; the mobile transmission plate is used to transport objects. One of the novelties of the present invention is that a new gear combination unit is created, and the omnidirectional movement of the platform is realized through the rotation and cooperation of the gear set; the second is that compared with the traditional transportation platform, the control system of the present invention is realized by the visual servo platform. The practicability of the invention lies in the combination of visual servoing and omnidirectional movement, so as to reduce the cost of the transmission system and improve the efficiency. The invention can realize the analysis, classification and efficient transportation of mixed items.

Description

An Omnidirectional Mobile Delivery Platform Based on Vision Analysis

technical field

The invention provides an omnidirectional mobile conveying platform based on visual analysis, and relates to image processing and frontier applications of new omnidirectional conveying belts.

Background technique

The transmission system is a very important link in the current industrial assembly line. At present, most industrial assembly lines use belt transmission. However, such transmission methods currently have some shortcomings, such as: the utilization rate of the conveyor belt is not high, and the overall maintenance of the belt is not convenient. , Therefore, the production efficiency is not high enough, and the maintenance cost is relatively high.

Contents of the invention

In order to solve the deficiencies in the prior art, the present invention proposes an omnidirectional mobile transmission platform based on visual analysis, which is realized through the following technical solutions:

An omnidirectional mobile transmission platform based on visual analysis, characterized in that it includes a vision acquisition system (1), a gear transmission platform (2); the gear transmission platform (2) consists of multiple mobile transmission plates (3) and a gear transmission unit (4) Composition, the upper part of the gear transmission unit (4) is in contact with the mobile transmission plate (3); the bottom of the back of the mobile transmission plate (3) is distributed with a number of neatly arranged small bosses (9); the visual acquisition system (1) is installed Above the gear transmission platform (2).

Preferably, the gear transmission unit (4) is composed of two sets of gears, wherein the gear (5) and the gear (6) have the same helix angle as the first group, and the gear (7) and the gear (8) have the same helix angle as the second group. two groups. When the first set of gears rotates at the same speed and in the same direction relative to the second set of gears, it can generate a forward or backward resultant force to make the moving transmission plate (3) move forward and backward; the first set of gears is opposite to the second set of gears at the same speed When the direction is turned, it can produce left or right thrust to make the moving transmission plate (3) move left and right; only when the first set of gears (5) and (6) move and the other set of gears does not move, the moving transmission plate The direction of motion of (3) is a vector parallel to the horizontal direction with an angle equal to the helix angle of the gear (5); through the combination of two sets of gears moving at different speeds and in different directions, the gear transmission unit (4) can drive the moving transmission plate (3) Omni-directional movement, so as to realize the omni-directional movement of the conveying platform transport objects.

Preferably, the moving transmission plate (3) is used to cooperate with the gear transmission unit (4), and the arrangement direction of the small bosses (9) is parallel to the horizontal line and forms an angle equal to the helix angle of the gear (5) or the gear (7) The vector, the small boss (9) of the moving transmission plate (3) and the two sets of gears of the gear transmission unit (4), that is, the gear (5) and the gear (6), and the gear (7) and the gear (8) are fully contacted to generate The component force in all directions drives itself to move and transmit objects.

Preferably, the vision acquisition system (1) includes one or more combinations of RGBD cameras, depth cameras, panoramic cameras, etc., and the vision acquisition system (1) is used to acquire images and 3D images of objects on the omnidirectional transmission platform. Point cloud, using image segmentation to distinguish different objects; then perform 3D point cloud matching on the separated objects to confirm the category of the object, and then control the omnidirectional mobile platform to transport the object to the classified area to achieve intelligence Classified shipping.

Gears: Used to connect the mobile transmission plate and drive the plate to achieve omnidirectional movement. Advantages of gears 1. Good meshing performance, stable transmission, and low noise. At the same time, this meshing method also reduces the influence of manufacturing errors on transmission. 2. The gear has a large bearing capacity and a long service life, which is convenient for maintenance and makes the transmission stable. 3. A more compact mechanism can be obtained by using gear transmission.

Mobile transmission plate: There are neatly arranged small bosses (9) distributed on the back, which are used to cooperate with the gears to realize omnidirectional movement; the plate is also used to carry objects and transport objects to a designated direction.

Other necessary connection devices and power devices: including computers, power supplies, etc., used to assist the implementation of the visual sorting system of the omnidirectional transfer platform. A power unit such as an electric motor is used to provide the power required for the movement of the gears.

Advantages of the present invention over prior art:

1. The omnidirectional movement of the present invention has a simple mechanism;

2. Omni-directional movement can be realized only through the cooperation of gears;

3. The control system is realized by the visual servo platform.

Description of drawings

Fig. 1 is the main composition diagram of the omnidirectional mobile transmission platform of the present invention

Fig. 2 is a structural diagram of the gear transmission platform of the omnidirectional mobile transmission platform of the present invention

Fig. 3 is a transport direction diagram of the omnidirectional mobile transport platform of the present invention (the arrow indicates the transport direction)

Fig. 4 is the gear distribution diagram of the gear transmission unit of the omnidirectional mobile transmission platform of the present invention

Fig. 5 is the back view of the mobile transmission plate of the omnidirectional mobile transmission platform of the present invention

Fig. 6 is a flow chart of the scheme of the omnidirectional mobile transmission platform of the present invention

Among them, 1 is the visual acquisition system, 2 is the gear transmission platform, 3 is the mobile transmission plate, 4 is the gear transmission unit, 5 and 6 have the same structure as the first set of gears, 7 and 8 have the same structure as the second set of gears, and 9 is the small Boss.

Detailed ways

The present invention will be described in further detail below with reference to the accompanying drawings 1 to 6 and the embodiments, but the embodiments of the present invention are not limited thereto.

Example 1:

As shown in Figure 1, a kind of omnidirectional mobile transmission platform based on visual analysis described in this example is mainly composed of 1. visual acquisition system (comprising RGBD camera, depth camera or panoramic camera, etc.), 2. gear transmission platform, wherein The gear transmission platform is composed of many gear transmission units and mobile transmission plates; as shown in Figure 2, the gear transmission unit 4 and the mobile transmission plate 3 jointly form a part of the gear transmission platform; The platform can classify objects and send them to various directions; as shown in FIG. 4 , the combination of the gears can realize the omnidirectional transmission of the mobile transmission plate 3 .

The described omnidirectional mobile transmission platform based on visual analysis includes the following functional components:

Visual acquisition system (including RGBD camera, depth camera or panoramic camera, etc.): as shown in Figure 6, the main work of the visual acquisition system is to collect images and 3D point clouds of objects on the omnidirectional transmission platform, and use image segmentation to distinguish different objects Open; then perform 3D point cloud matching on the separated objects to confirm the category of the object; then combine with the omnidirectional transmission platform to realize intelligent classification and transportation.

Gear: As shown in Figure 4, preferably, as one of the embodiments, a combination of two different helix angles is used to realize omnidirectional transmission, wherein the gear (5) and gear (6) have the same helix angle as the first One group, gear (7) and gear (8) equal helix angle is the second group. When the first set of gears rotates at the same speed and in the same direction relative to the second set of gears, a forward or backward resultant force can be generated to move the transmission plate (3) forward and backward; When the rotational speed rotates in the opposite direction, it can produce left or right thrust to make the moving transmission plate (3) move left and right; when only the first set of gears, namely gears (5) and gears (6) move and the other set of gears does not move, The direction of motion of the mobile transmission plate (3) is parallel to the vector whose included angle with the horizontal direction is equal to the helix angle of the gear (5), and vice versa. In summary, through the movement combination of the two sets of gears at different speeds and in different directions, the gear transmission unit (4) can drive the mobile transmission plate (3) to move in all directions, thereby realizing the omnidirectional movement of the transmission platform.

Moving transmission plate: As shown in Figure 5, the arrangement direction of the small bosses is parallel to the vector gear with an angle equal to the helix angle of the gear (5) or the gear (7) with the horizontal line, and the small bosses of the moving transmission plate (3) ( 9) The two sets of gears of the gear transmission unit (4), that is, gears (5) and gears (6), gears (7) and gears (8), are in full contact with each other to generate component forces in various directions, thereby generating motion in different directions.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (4)

1. An omnidirectional mobile transmission platform based on visual analysis, characterized in that it includes a vision acquisition system (1), a gear transmission platform (2); the gear transmission platform (2) consists of multiple mobile transmission plates (3) and gears Consists of a transmission unit (4), and the upper part of the gear transmission unit (4) is in contact with the mobile transmission plate (3); the bottom of the back of the mobile transmission plate (3) is distributed with a number of neatly arranged small bosses (9); the visual collection system ( 1) Installed above the gear transmission platform (2). 2. The omnidirectional mobile transmission platform according to claim 1, characterized in that: the gear transmission unit (4) is composed of two sets of gears, the first set of gears (5) and gears (6) having equal helix angles , gear (7) and gear (8) have the same helix angle as the second group; when the first group of gears rotates at the same speed and in the same direction relative to the second group of gears, it can generate forward or backward resultant force to move the transmission plate (3 ) forward and backward; when the first set of gears rotates in the opposite direction at the same speed relative to the second set of gears, it can generate left or right thrust to make the moving transmission plate (3) move left and right; only the first set of gears is the gear (5) When the gear (6) moves and the other set of gears does not move, the direction of movement of the moving transmission plate (3) is parallel to the vector with an angle equal to the helix angle of the gear (5) with the horizontal direction; through two sets of gears with different speeds and different directions The combination of motion, the gear transmission unit (4) can drive the mobile transmission plate (3) to move in all directions, so as to realize the omnidirectional movement of the objects transported by the transmission platform. 3. The omnidirectional mobile transmission platform according to claim 1, characterized in that: the mobile transmission plate (3) is used to cooperate with the gear transmission unit (4), and the arrangement direction of the small bosses (9) is parallel to the The angle between the horizontal line is equal to the vector of the helix angle of the gear (5) or the gear (7), and the small boss (9) of the moving transmission plate (3) and the two sets of gears of the gear transmission unit (4) are the gear (5) and the gear (6) The full contact between the gear (7) and the gear (8) produces force components in all directions, driving itself to move and transport objects. 4. The omnidirectional mobile transmission platform according to claim 1, characterized in that: the visual acquisition system (1) includes one or more combinations of RGBD cameras, depth cameras, panoramic cameras, etc., the visual acquisition system (1) It is used to collect images and 3D point clouds of objects on the omnidirectional transmission platform, and use image segmentation to distinguish different objects; then perform 3D point cloud matching on the separated objects to confirm the category of objects and realize intelligence Classified shipping.