CN108362203A - A kind of automatic positioning detectable substance system and method for wheeled crusing robot - Google Patents
A kind of automatic positioning detectable substance system and method for wheeled crusing robot Download PDFInfo
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- CN108362203A CN108362203A CN201810173145.XA CN201810173145A CN108362203A CN 108362203 A CN108362203 A CN 108362203A CN 201810173145 A CN201810173145 A CN 201810173145A CN 108362203 A CN108362203 A CN 108362203A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000000126 substance Substances 0.000 title claims abstract description 14
- 238000007689 inspection Methods 0.000 claims abstract description 7
- 230000004807 localization Effects 0.000 claims abstract description 5
- 230000000007 visual effect Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract 1
- 230000001737 promoting effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000012552 review Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The invention discloses one kind for explosion-proof wheeled crusing robot automatic positioning detectable substance system and detectable substance localization method, the system includes：Explosion-proof wheeled robot shell, RFID module, wireless network module, control unit, explosion-proof holder, vision positioning server, RFID tag and detected material.The present invention is combined using RFID positioning with vision positioning mode, enable explosion-proof wheeled crusing robot that detected material is accurately positioned, solves dangerous chemical industry inspection machine user tripod head automatic positioning detectable substance technical barrier, applying and promoting to industrial robot has important value.
Description
Technical field
The invention belongs to industrial robot field, specifically a kind of automatic positioning for wheeled crusing robot detects
Object system and method.
Background technology
The wheeled crusing robot of technical grade, which has had, at present is widely applied, and wheeled crusing robot is in inspection process
In require robot auto-rotatable cradle head, by video camera automatic positioning to detected material.Due to robot stopping accuracy, explosion-proof cloud
The problems such as platform precision, robot are difficult one-time positioning to detected material, and stability is poor, often occur cannot being accurately positioned
Situation.Accordingly, it is desirable to provide one kind more accurately detecting object localization method.
Invention content
In order to solve the above technical problems, being combined based on RFID positioning and vision positioning technology the present invention provides a kind of
Automatic positioning detectable substance system and method for wheeled crusing robot.
The technical solution adopted by the present invention is：A kind of automatic positioning detectable substance system for wheeled crusing robot, packet
It includes：Explosion-proof wheeled robot shell（1）, RFID module（2）, wireless network module（3）, control unit（4）, explosion-proof holder（5）、
Vision positioning server（6）, RFID tag（7）And detected material（8）.Explosion-proof wheeled robot shell（1）, RFID module（2）、
Wireless network module（3）, control unit（4）With explosion-proof holder（5）For explosion prevention robot body part, wherein explosion-proof holder（5）
Positioned at explosion-proof wheeled robot shell（1）Except, RFID module（2）, wireless network module（3）, control unit（4）Positioned at explosion-proof
Wheeled robot shell（1）Within；Vision positioning server（6）And RFID tag（7）It is assisted for explosion-proof wheeled crusing robot
Positioning device, detected material（8）To need the object of detection and localization.
In explosion-proof wheeled robot shell（1）Inside, RFID module（2）With control unit（4）Between by two core connections
Connection, is communicated by RS485, reads RFID module in real time（2）Collected label information.Explosion-proof holder（5）With it is wireless
Network module（3）Between be attached by a RJ45 cable, communicated by TCP/IP, for by camera review it is real-time
Upload to vision positioning server（6）, while control unit（4）Explosion-proof holder is controlled by RJ45 cables（5）Rotation.Control is single
Member（4）With wireless network module（3）Between be attached by a RJ45 cable, communicated, will be collected by TCP/IP
RFID tag（7）Information uploads to visual services device in real time（6）.Vision positioning server（6）With wireless network module（3）It
Between communicated by 2.4GWIFI, communication modes TCP/IP.
The method for the automatic positioning detectable substance based on above system that the present invention also provides a kind of, this method include following step
Suddenly：
Step 1：In explosion-proof wheeled robot inspection traveling process, pass through RFID module（2）With RFID tag（7）Cooperation,
The parking of explosion-proof wheeled robot is positioned, RFID module（2）Real time scan RFID tag（7）Information, when detecting
RFID tag（7）Afterwards, by RFID tag（7）Information uploads to control unit（4）, control unit（4）Control explosion-proof wheel type machine
People is stopped, and by RFID tag（7）Information is uploaded to vision positioning server（6）.
Step 2：Vision positioning server（6）Receive RFID tag（7）After information, according to control unit（4）It uploads
RFID tag（7）Information adjusts explosion-proof holder（5）Corresponding presetting bit, carries out Primary Location.Explosion-proof holder（5）Rotate to correspondence
After presetting bit, to detected material（8）Carry out picture candid photograph.
Step 3：Explosion-proof holder（5）By the picture transfer of candid photograph to vision positioning server（6）On, vision positioning service
Device（6）Backstage carries out analyzing processing to picture and orients detected material by vision positioning algorithm（8）It is opposite in picture
Position Point（X, y）With relative size Size.Work as detected material（8）The relative position Point in picture（X, y）Beyond default
Deviation range, and detected material（8）It, need to be to explosion-proof holder when relative size Size needs size Size less than visual identity minimum
（5）PTZ parameters carry out secondary adjustment.First, vision positioning server（6）By calling explosion-proof holder（5）Obtain information API
Interface obtains current camera focal length（Zoom）Value, according to focal length（Zoom）Value and Point（X, y）And detected material（8）Phase
Ratiometric conversion is carried out to size Size values, calculating obtains explosion-proof holder（5）Horizontal departure angle P, it vertical missing angle T, is detected
Survey object（8）It needs to adjust focal length value Z.Then, explosion-proof holder is called（5）Api interface is rotated, first according to P, T parameter to explosion-proof cloud
Platform（5）Deviation is modified, by detected material（8）It is moved to camera review center, then by explosion-proof holder focal length（Zoom）
Value, which is set as calculating, obtains focal length value Z, by detected material（8）Image is amplified, and is finally reached vision positioning requirement.
The beneficial effects of the invention are as follows：It can realize that explosion-proof wheeled crusing robot is automatically positioned during inspection and arrive quilt
Detectable substance, while solving the problems such as parking positioning accuracy is low, holder precision is low, it is reliable and stable.
Description of the drawings
Fig. 1 is present system structural schematic diagram.
Specific implementation mode
The present invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, a kind of automatic positioning detectable substance system for wheeled crusing robot, including：Explosion-proof wheeled machine
Device people's shell（1）, RFID module（2）, wireless network module（3）, control unit（4）, explosion-proof holder（5）, vision positioning service
Device（6）, RFID tag（7）And detected material（8）.Explosion-proof wheeled robot shell（1）, RFID module（2）, wireless network module
（3）, control unit（4）With explosion-proof holder（5）For explosion prevention robot body part, wherein explosion-proof holder（5）Positioned at explosion-proof wheeled
Robot shell（1）Except, RFID module（2）, wireless network module（3）, control unit（4）Positioned at explosion-proof wheeled robot shell
Body（1）Within；Vision positioning server（6）And RFID tag（7）For explosion-proof wheeled crusing robot auxiliary positioning equipment, it is detected
Survey object（8）To need the object of detection and localization.
In explosion-proof wheeled robot shell（1）Inside, RFID module（2）With control unit（4）Between by two core connections
Connection, is communicated by RS485, reads RFID module in real time（2）Collected label information.Explosion-proof holder（5）With it is wireless
Network module（3）Between be attached by a RJ45 cable, communicated by TCP/IP, for by camera review it is real-time
Upload to vision positioning server（6）, while control unit（4）Explosion-proof holder is controlled by RJ45 cables（5）Rotation.Control is single
Member（4）With wireless network module（3）Between be attached by a RJ45 cable, communicated, will be collected by TCP/IP
RFID tag（7）Information uploads to visual services device in real time（6）.Vision positioning server（6）With wireless network module（3）It
Between communicated by 2.4GWIFI, communication modes TCP/IP.
The method for the automatic positioning detectable substance based on above system that the present invention also provides a kind of, this method include following step
Suddenly：
Step 1：In explosion-proof wheeled robot inspection traveling process, pass through RFID module（2）With RFID tag（7）Cooperation,
The parking of explosion-proof wheeled robot is positioned, RFID module（2）Real time scan RFID tag（7）Information, when detecting
RFID tag（7）Afterwards, by RFID tag（7）Information uploads to control unit（4）, control unit（4）Control explosion-proof wheel type machine
People is stopped, and by RFID tag（7）Information is uploaded to vision positioning server（6）.
Step 2：Vision positioning server（6）Receive RFID tag（7）After information, according to control unit（4）It uploads
RFID tag（7）Information adjusts explosion-proof holder（5）Corresponding presetting bit, carries out Primary Location.Explosion-proof holder（5）Rotate to correspondence
After presetting bit, to detected material（8）Carry out picture candid photograph.
Step 3：Explosion-proof holder（5）By the picture transfer of candid photograph to vision positioning server（6）On, vision positioning service
Device（6）Backstage carries out analyzing processing to picture and orients detected material by vision positioning algorithm（8）It is opposite in picture
Position Point（X, y）With relative size Size.Work as detected material（8）The relative position Point in picture（X, y）Beyond default
Deviation range, and detected material（8）It, need to be to explosion-proof holder when relative size Size needs size Size less than visual identity minimum
（5）PTZ parameters carry out secondary adjustment.First, vision positioning server（6）By calling explosion-proof holder（5）Obtain information API
Interface obtains current camera focal length（Zoom）Value, according to focal length（Zoom）Value and Point（X, y）And detected material（8）Phase
Ratiometric conversion is carried out to size Size values, calculating obtains explosion-proof holder（5）Horizontal departure angle P, it vertical missing angle T, is detected
Survey object（8）It needs to adjust focal length value Z.Then, explosion-proof holder is called（5）Api interface is rotated, first according to P, T parameter to explosion-proof cloud
Platform（5）Deviation is modified, by detected material（8）It is moved to camera review center, then by explosion-proof holder focal length（Zoom）
Value, which is set as calculating, obtains focal length value Z, by detected material（8）Image is amplified, and is finally reached vision positioning requirement.
The present invention is positioned RFID tag in such a way that vision positioning is combined, and can realize explosion-proof wheeled inspection machine
Precise positioning is to detected material under explosion-proof environment by people, while by secondary adjustment, reduce to stopping accuracy, holder precision according to
Rely.Detected material technology is positioned by this explosion-proof wheeled crusing robot, explosion-proof wheeled crusing robot is enable to be accurately positioned
To detected material, identify that detected material work completes preliminary preparation for explosion-proof wheeled crusing robot, while also widening
Application field of the industrial robot in dangerization industry has wide exploitation and promotion prospect.
Claims (2)
1. a kind of automatic positioning detectable substance system for wheeled crusing robot, it is characterized in that：The system includes：It is explosion-proof wheeled
Robot shell（1）, RFID module（2）, wireless network module（3）, control unit（4）, explosion-proof holder（5）, vision positioning clothes
Business device（6）, RFID tag（7）And detected material（8）；The explosion-proof wheeled robot shell（1）, RFID module（2）, wireless network
Network module（3）, control unit（4）With explosion-proof holder（5）For explosion-proof wheeled robot body part, the explosion-proof holder（5）Position
In explosion-proof wheeled robot shell（1）Except, RFID module（2）, wireless network module（3）, control unit（4）Positioned at Explosion-proof wheel
Formula robot shell（1）Within；Vision positioning server（6）And RFID tag（7）It is fixed for explosion-proof wheeled crusing robot auxiliary
Position equipment, detected material（8）To need the object of detection and localization；In explosion-proof wheeled robot shell（1）Inside, the RFID moulds
Block（2）With control unit（4）It is connected by two core connections, explosion-proof holder（5）With wireless network module（3）Between by a RJ45
Cable connects, control unit（4）With wireless network module（3）Between be attached by a RJ45 cable, vision positioning service
Device（6）With wireless network module（3）Between communicated by 2.4GWIFI.
2. a kind of automatic positioning detectable substance method based on system described in claim 1, it is characterized in that：This method includes following step
Suddenly：
Step 1：In explosion-proof wheeled robot inspection traveling process, pass through RFID module（2）With RFID tag（7）Cooperation,
The parking of explosion-proof wheeled robot is positioned, RFID module（2）Real time scan RFID tag（7）Information, when detecting
RFID tag（7）Afterwards, by RFID tag（7）Information uploads to control unit（4）, control unit（4）Control explosion-proof wheel type machine
People is stopped, and by RFID tag（7）Information is uploaded to vision positioning server（6）；
Step 2：Vision positioning server（6）Receive RFID tag（7）After information, according to control unit（4）The RFID of upload is marked
Label（7）Information adjusts explosion-proof holder（5）Corresponding presetting bit, carries out Primary Location；Explosion-proof holder（5）Rotate to corresponding presetting bit
Afterwards, to detected material（8）Carry out picture candid photograph；Step 3：Explosion-proof holder（5）By the picture transfer of candid photograph to vision positioning service
Device（6）On, vision positioning server（6）Backstage carries out analyzing processing to picture and is oriented detected by vision positioning algorithm
Object（8）Relative position Point in picture（X, y）With relative size Size；Work as detected material（8）The relative position in picture
Point（X, y）Beyond predetermined deviation range, and detected material（8）Relative size Size needs size less than visual identity minimum
It, need to be to explosion-proof holder when Size（5）PTZ parameters carry out secondary adjustment；First, vision positioning server（6）It is anti-by calling
Quick-fried holder（5）Information api interface is obtained, current camera focal length is obtained（Zoom）Value, according to focal length（Zoom）Value and Point
（X, y）And detected material（8）Relative size Size values carry out ratiometric conversion, and calculating obtains explosion-proof holder（5）Horizontal angle of deviation
Spend P, vertical missing angle T, detected material（8）It needs to adjust focal length value Z；Then, explosion-proof holder is called（5）Api interface is rotated,
First according to P, T parameter to explosion-proof holder（5）Deviation is modified, by detected material（8）It is moved to camera review center, then
By explosion-proof holder focal length（Zoom）Value, which is set as calculating, obtains focal length value Z, by detected material（8）Image is amplified, and is finally reached
To vision positioning requirement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173145.XA CN108362203A (en) | 2018-03-02 | 2018-03-02 | A kind of automatic positioning detectable substance system and method for wheeled crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173145.XA CN108362203A (en) | 2018-03-02 | 2018-03-02 | A kind of automatic positioning detectable substance system and method for wheeled crusing robot |
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| CN108362203A true CN108362203A (en) | 2018-08-03 |
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| CN201810173145.XA Pending CN108362203A (en) | 2018-03-02 | 2018-03-02 | A kind of automatic positioning detectable substance system and method for wheeled crusing robot |
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Citations (7)
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| JP2007249735A (en) * | 2006-03-17 | 2007-09-27 | Fujitsu Ltd | Robot position control device and robot self-position recovery method |
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| CN103363952A (en) * | 2013-06-03 | 2013-10-23 | 长春理工大学 | Vehicle-mounted photoelectric measuring device and method for target sizes and interval between electric transmission line and target |
| CN104615147A (en) * | 2015-02-13 | 2015-05-13 | 中国北方车辆研究所 | Method and system for accurately positioning polling target of transformer substation |
| CN204650272U (en) * | 2015-04-02 | 2015-09-16 | 杭州宾美科技有限公司 | The tour supervisory-controlled robot that a kind of view-based access control model guides |
| CN206178406U (en) * | 2016-11-18 | 2017-05-17 | 中信重工开诚智能装备有限公司 | Patrol and examine robot from walking track based on infrared thermal imaging |
| CN206920927U (en) * | 2017-07-18 | 2018-01-23 | 中信重工开诚智能装备有限公司 | A kind of explosion-proof wheeled crusing robot navigation system |
-
2018
- 2018-03-02 CN CN201810173145.XA patent/CN108362203A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007249735A (en) * | 2006-03-17 | 2007-09-27 | Fujitsu Ltd | Robot position control device and robot self-position recovery method |
| US20090012667A1 (en) * | 2007-07-04 | 2009-01-08 | Kosei Matsumoto | Mobile device, moving system, moving method, and moving program |
| CN103363952A (en) * | 2013-06-03 | 2013-10-23 | 长春理工大学 | Vehicle-mounted photoelectric measuring device and method for target sizes and interval between electric transmission line and target |
| CN104615147A (en) * | 2015-02-13 | 2015-05-13 | 中国北方车辆研究所 | Method and system for accurately positioning polling target of transformer substation |
| CN204650272U (en) * | 2015-04-02 | 2015-09-16 | 杭州宾美科技有限公司 | The tour supervisory-controlled robot that a kind of view-based access control model guides |
| CN206178406U (en) * | 2016-11-18 | 2017-05-17 | 中信重工开诚智能装备有限公司 | Patrol and examine robot from walking track based on infrared thermal imaging |
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Application publication date: 20180803 |
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