CN-116305631-B - Finger tip surface fingerprint-like structure design method and finger claw finger using same

Abstract

The invention discloses a design method of a finger tip surface imitation fingerprint structure and a finger claw finger using the same, and relates to the technical field of robots. The design method of the fingerprint-like structure on the surface of the finger tip comprises the following steps of collecting fingerprint images, optimizing to obtain optimized images, identifying and extracting fingerprint contours in the optimized images, reconstructing by means of modeling software based on the fingerprint contours to obtain a planar fingerprint structure of a two-dimensional sketch, stretching the planar fingerprint structure of the two-dimensional sketch to obtain a fingerprint surface structure of a three-dimensional structure, and applying the fingerprint surface structure to the finger tip. The invention can improve the contact between the robot paw and the fruit by utilizing the finger-tip surface fingerprint-like structure, and improve the picking success rate.

Inventors

• XIE WEIGUI
• TAN ZHENHUA
• HUANG GUANGHUI
• YANG JINCHEN
• LIU WANGYU

Assignees

• 华南理工大学

Dates

Publication Date

20260512

Application Date

20230221

Claims (3)

1. 1. A fruit picking robot paw finger with a finger tip surface fingerprint-like structure is characterized by comprising A first finger section and a second finger section hinged by a rotary joint, the facing surfaces of the first finger section and the second finger section being defined as picking contact surfaces, and The finger tip surface fingerprint-like structure is arranged on the picking contact surface of the first finger segment to provide higher contact friction force for the first finger segment, and is a flexible material member; The finger tip surface fingerprint imitation structure is designed by adopting a finger tip surface fingerprint imitation structure design method, and comprises the following steps: S1, collecting a fingerprint image, optimizing to obtain an optimized image, and identifying and extracting a fingerprint contour in the optimized image; s2, reconstructing by means of modeling software based on the fingerprint profile to obtain a planar fingerprint structure of the two-dimensional sketch; And S3, stretching the planar fingerprint structure of the two-dimensional sketch to obtain a fingerprint surface structure of a three-dimensional structure, and applying the fingerprint surface structure to a finger tip position.
2. 2. The fruit picking robot paw finger with the finger-tip surface imitating fingerprint structure according to claim 1, wherein in the step S1, the fingerprint image is optimized, the image is improved by adopting a morphological optimization technology based on a digital image processing technology, and an optimized image is obtained.
3. 3. The fruit picking robot gripper finger with the finger tip surface fingerprint like structure according to claim 2, wherein in the step S1, the morphological optimization technique is one or more of binarization, denoising, corrosion and swelling.

Description

Finger tip surface fingerprint-like structure design method and finger claw finger using same Technical Field The invention relates to the technical field of robots, in particular to a design method of a finger tip surface fingerprint-like structure, and further relates to a fruit picking robot paw finger with the finger tip surface fingerprint-like structure. Background With the transition of the times, agricultural labor force is seriously lost, and the intelligent technology which is rapidly developed provides a feasible solution for agricultural modernization and intellectualization, so that the development of agricultural robots is becoming more and more popular. Fruit picking robots are one of the agricultural robots in wide application, and mainly comprise machine vision, a mechanical arm, an actuator and a control system. Wherein, the development trend of the actuator paw is personification and flexibility. However, the picking success rate of the existing fruit picking robot is to be improved according to the old, on one hand, the garden environment is complex, the fruits are shielded by leaves, branches and the like, and on the other hand, the manipulator claws of the actuator are not flexible and gentle enough, so that the fruits are difficult to avoid being accidentally injured in the picking process. In the prior related designs, the common structure has the problem of insufficient flexibility of the actuator, such as a first technical scheme (the invention is named as a spherical fruit picking robot end actuator, the application number is 202220482100.2), a second technical scheme (the invention is named as a melon fruit picking robot end actuator, the application number is 202010881159.4), a third technical scheme (the invention is named as a spherical fruit picking robot end actuator, the application number is 201811270001.2), and the actuator adopts an anthropomorphic gripper design, so that the problem of flexibility can be improved, but the gripper grabbing capability still needs to be improved, for example, a fourth technical scheme (the invention is named as an electromagnetically driven multi-finger flexible gripper, the application number is 202413708. X), and a fourth technical scheme (the invention is named as a rigid-flexible combined anthropomorphic five-finger gripper, the application number is 202010491965.0). In view of this, how to further improve the contact between the actuator paw and the fruit is a key problem that needs to be solved by the novel picking robot. Disclosure of Invention The present invention aims to solve, at least to some extent, one of the above technical problems in the prior art. Therefore, the embodiment of the invention provides a design method of a finger tip surface fingerprint-like structure, and also provides a fruit picking robot finger with the finger tip surface fingerprint-like structure, and the finger tip surface fingerprint-like structure is utilized to improve the contact between the robot finger and fruits, so that the picking success rate is improved. According to an embodiment of the first aspect of the present invention, there is provided a design method of a finger tip surface fingerprint-like structure, including the steps of: S1, collecting a fingerprint image, optimizing to obtain an optimized image, and identifying and extracting a fingerprint contour in the optimized image; s2, reconstructing by means of modeling software based on the fingerprint profile to obtain a planar fingerprint structure of the two-dimensional sketch; And S3, stretching the planar fingerprint structure of the two-dimensional sketch to obtain a fingerprint surface structure of a three-dimensional structure, and applying the fingerprint surface structure to a finger tip position. According to an embodiment of the first aspect of the present invention, in the step S1, the fingerprint image is optimized, based on a digital image processing technology, and an image is improved by adopting a morphological optimization technology, so as to obtain an optimized image. The design method of the fingerprint-like structure on the surface of the fingertip has the advantages that the fingerprint surface structure is obtained through the steps of collecting fingerprint images and extracting fingerprint outlines and through modeling, the whole design technology route is clear, the fingerprint surface structure with high reduction degree can be brought based on structural reconstruction of the real fingerprint images, and finer technical references are provided for the design of the anthropomorphic paw. According to an embodiment of the first aspect of the present invention, in the step S1, the morphological optimization technique is one or more of binarization, denoising, corrosion and expansion. According to an embodiment of the second aspect of the present invention, there is provided a fruit picking robot gripper finger with a finger tip surface fingerprint-like structur