CN110528830A - Metope handling machine people and its precision alignment device and accuracy correcting method - Google Patents
Metope handling machine people and its precision alignment device and accuracy correcting method Download PDFInfo
- Publication number
- CN110528830A CN110528830A CN201910816746.2A CN201910816746A CN110528830A CN 110528830 A CN110528830 A CN 110528830A CN 201910816746 A CN201910816746 A CN 201910816746A CN 110528830 A CN110528830 A CN 110528830A
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- China
- Prior art keywords
- metope
- camera
- laser
- machine people
- handling machine
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/182—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like for walls and ceilings
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of metope handling machine people and its precision alignment device and accuracy correcting methods, are related to construction robot technical field.The precision alignment device includes laser and precision determination component；Precision determination component includes transparent panel and at least one camera；One end of transparent panel is fixedly connected with metope handling machine people towards the one side of metope；Camera is arranged above transparent panel, and shooting direction is towards transparent panel.The accuracy correcting method falls in the laser rays on transparent panel by the laser datum face that camera obtains laser；The angle and distance of the reference line of laser rays and camera are calculated, and adjusts separately the angles and positions of metope handling machine people accordingly.The present invention adjusts angle and the position of robot by the angle and distance error between analysis laser rays and camera reference line, to guarantee that the operation distance of robot and operation effectiveness all meet the required precision of examination.
Description
Technical field
The present invention relates to construction robot technical field more particularly to a kind of metope handling machine people and its precision contraposition dresses
It sets and accuracy correcting method.
Background technique
The processing of architecture indoor metope includes multinomial content, in early stage change modification, after the polishing of metope concrete, passes through 2
Rice guiding ruler measures metope designated position, and whole metope levelness and verticality need to meet national structure index and construction companies are tested
Receive index.Judgment mode is obtained by manually relying on sense organ experience and guiding ruler measurement at this stage.With intelligent development, machine
Device people can gradually substitute manual work, for robot manipulating task putty coating, metope polishing etc. metopes treatment process, robot
How to judge the other sense organ of grade and guiding ruler error is urgent problem at this stage, and needs to carry out school to error
Just, guarantee that robot is smooth and accurate in metope processing.
Summary of the invention
It is an object of the invention to propose a kind of metope handling machine people and its precision alignment device and accuracy correcting method,
By laser and visual determination, the angle and distance error between robot and metope is corrected, improves robot in wall
Precision in surface treatment.
To achieve this purpose, the present invention adopts the following technical scheme:
In a first aspect, the present invention provides the precision alignment device of metope handling machine people a kind of, comprising: laser and precision
Determination component；
It is parallel with metope that the laser emits laser-formed laser datum face, and apart from the first pre-determined distance of metope；
The precision determination component includes: transparent panel and at least one camera；
Wherein, one end of the transparent panel is fixedly connected with the metope handling machine people towards the one side of metope, separately
One end extends to metope；The camera is arranged in the top of the transparent panel, and the shooting direction of the camera is towards described transparent
Plate.
Further, the precision determination component includes at least two cameras；Multiple cameras are arranged in straight line
On, and the straight line is parallel with the work surface of executing agency of the metope handling machine people；A wherein ginseng for the camera
It is parallel with the work surface to examine line.
Further, upper plate is provided with above the transparent panel, the camera is mounted on the upper plate.
Second aspect, the present invention provide a kind of metope handling machine people, comprising: above-mentioned precision alignment device, processor
And mobile alignment device；
The mobile alignment device includes the steering assembly and set of displacements for being mounted on the chassis of the metope handling machine people
Part；
The processor is used to analyze the image of the precision alignment device acquisition, controls the movement based on the analysis results
Alignment device completes accuracy correction.
The third aspect, the present invention provide the accuracy correcting method of metope handling machine people a kind of, are handled by above-mentioned metope
Robot executes, comprising:
The laser rays on transparent panel is fallen in by the laser datum face that camera obtains laser；
Calculate separately the angle and distance of the reference line of the laser rays and camera；
According to the angle and the distance, the angles and positions of the metope handling machine people are adjusted separately.
Wherein, the angle and distance for calculating separately the reference line of the laser rays and camera, according to the angle and described
Distance adjusts separately the angles and positions of the metope handling machine people, comprising:
Calculate the angle of the reference line of the laser rays and camera；
The angle for adjusting the metope handling machine people, makes the angle in the first preset range；
After adjustment angle, the laser rays is obtained again by camera, calculate the reference line of the laser rays and camera
Distance；
The position for adjusting the metope handling machine people, makes the distance in the second preset range.
Further, it before falling in the laser rays on transparent panel by the laser datum face that camera obtains laser, also wraps
It includes:
Choose the smooth place on metope；
Laser is placed in the front at the smooth place, keeps the laser datum face of laser parallel with the smooth place, and
At a distance of the first pre-determined distance.
Further, before the angle and the distance that calculate separately the reference line of the laser rays and camera, further includes:
Choosing any reference line parallel with the work surface of executing agency of the metope handling machine people in camera is base
Directrix.
Wherein, the angle for adjusting the metope handling machine people, makes the angle in the first preset range, comprising:
The angle for adjusting the metope handling machine people keeps the laser rays parallel with the reference line.
Wherein, the position for adjusting the metope handling machine people, makes the distance in the second preset range, comprising:
The position for adjusting the metope handling machine people, is overlapped the laser rays with the reference line.
The invention has the benefit that
The camera of precision alignment device obtains the laser rays that laser is fallen on transparent panel, processor analyze laser rays with
Angular error and range error between camera reference line, robot can according to the angular error and range error rotational angle and
Shift position finally enables the work surface of the executing agency of robot parallel with the smooth place of metope, and at a distance of certain
Distance, to guarantee that the operation distance of robot and operation effectiveness all meet the required precision of examination.
Detailed description of the invention
Fig. 1 is the front view for the precision alignment device that the embodiment of the present invention one provides；
Fig. 2 is the side view for the precision alignment device that the embodiment of the present invention one provides；
Fig. 3 is the structural schematic diagram of metope handling machine people provided by Embodiment 2 of the present invention；
Fig. 4 is the flow chart for the accuracy correcting method that the embodiment of the present invention three provides；
Fig. 5 is the schematic diagram that angle is calculated in the embodiment of the present invention three；
Fig. 6 is the schematic diagram that distance is calculated in the embodiment of the present invention three.
In figure: 1- metope handling machine people；11- executing agency；12- precision determination component；13- moves alignment device；21-
Upper plate；22- camera；221- reference line；23- transparent panel；24- laser；241- laser datum face；242- laser rays；3- wall
Face.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below
It will the technical scheme of the embodiment of the invention will be described in further detail in conjunction with attached drawing, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.
Embodiment one
The present embodiment provides the precision alignment devices of metope handling machine people a kind of, are mounted on metope handling machine people,
For correcting the angle and distance between robot and metope, robot and metope is set to keep certain operation distance, and protect
The work surface for demonstrate,proving executing agency is parallel with metope, improves homework precision.
As shown in Figure 1-3, the precision alignment device includes: laser 24 and precision determination component 12.
Wherein, laser 24 emits laser in the vertical direction, and the laser datum face 241 of formation is parallel with metope 3, and away from
From the first pre-determined distance of metope d.Before carrying out accuracy correction, smooth place should be chosen on metope 3, can manually be looked for and be made even by guiding ruler
The position that whole property and verticality are met the requirements is to keep laser datum face 241 flat with this referring to laser 24 is placed with this smooth place
Whole place is parallel.
The precision determination component 12 includes: transparent panel 23 and at least one camera 22.According at least two cameras 22,
Then multiple cameras 22 should be arranged point-blank, and the executing agency of the straight line and the metope handling machine people 1
11 work surface is parallel；A wherein reference line for the camera 22 is parallel with the work surface.Metope handling machine people 1 can be with
It is putty coating robot, wall surface grinding machine device people etc., corresponding executing agency 11 is putty scraper plate or polishing grinding wheel, scraper plate
The processing to metope is completed with grinding wheel up and down motion, scraper plate blade coating plane and grinder buffing plane are then the work surface of robot.
Multiple cameras 22 can cooperate also can work independently after be mutually authenticated, be conducive to the measurement essence for improving Image Acquisition and analysis
Degree.
Wherein, the one side of one end of the transparent panel 23 and the metope handling machine people 1 towards metope 3 is fixed connects
It connects, the other end extends to metope 3；The top of the transparent panel 23, the shooting direction of the camera 22 is arranged in the camera 22
Towards the transparent panel 23.
Further, the shooting direction of the camera 22 vertically transparent panel 23, for convenience of the installation of camera 22
And establishing shot angle, the top of the transparent panel 23 are provided with upper plate 21, the camera 22 is mounted on the upper plate 21
On, in the present embodiment, camera 22 is mounted on the lower surface of upper plate 21.
Precision alignment device is arranged in the present embodiment in robot, and laser is imaged straight on transparent panel, scatters hot spot
It is few, using machine vision and image analysis, angle and distance error slight between robot and metope is obtained, convenient for adjusting
It is whole.
Embodiment two
The present embodiment provides a kind of metope handling machine people, comprising: the precision alignment device of above-described embodiment, processor
And mobile alignment device.
As shown in figure 3, the mobile alignment device 13 includes being mounted on the steering on the chassis of the metope handling machine people 1
Component and displacement component.
The processor (not shown) is used to analyze the image of the precision alignment device acquisition, based on the analysis results
It controls the mobile alignment device 13 and completes accuracy correction.When carrying out accuracy correction, steering assembly under the control of a processor,
It is rotated according to the robot angular deviation that analysis image obtains, robot is made to turn to suitable angle；Displacement component according to
The range deviation that image obtains is analyzed, is moved forward or back relative to metope, robot is made to meet job requirements at a distance from metope.
Embodiment three
The present embodiment provides the accuracy correcting method of metope handling machine people a kind of, by above-mentioned metope handling machine people Lai
It executes, for carrying out the correction of the angle and distance relative to metope to metope handling machine people.
The accuracy correcting method includes following key step:
S11 falls in the laser rays on transparent panel by the laser datum face that camera obtains laser.
S12 calculates separately the angle and distance of the reference line of the laser rays and camera.
S13 adjusts separately the angles and positions of the metope handling machine people according to the angle and the distance.
Further, above-mentioned steps are refined, as shown in figure 4, the accuracy correcting method specifically includes:
S21 chooses the smooth place on metope；Laser is placed in the front at the smooth place.
The artificial a part of plane for meeting acceptance criteria by flatness on guiding ruler selection metope and verticality, labeled as flat
Whole place.As illustrated in fig. 1 and 2, make the laser datum face of laser parallel with the smooth place, and at a distance of the first pre-determined distance.
S22 falls in the image of the laser rays on transparent panel by the laser datum face that camera obtains laser.
As it can be seen in figures 5 and 6, laser can pass through on transparent panel, laser datum face is intersected with transparent panel, and the straight line of intersection exists
A laser rays is shown as on transparent panel.
It is taken pictures by camera and obtains the position of laser rays in the picture.
S23 calculates the angle of the reference line of the laser rays and camera.
Choosing any reference line parallel with the work surface of executing agency of the metope handling machine people in camera is base
Directrix.
Camera internal parameter has preset several reference lines, can form grid when taking pictures on picture, for being used as water
Flat or vertical reference.It is benchmark line, this implementation that a wherein reference line parallel with work surface is chosen in several reference lines
In example, the horizontal reference line for choosing camera view center is benchmark line.
As shown in figure 5, camera takes the laser rays 242 on transparent panel 23, it is crossed to form with the reference line 221 in camera
Angle a.Calculate the angle (direction of angular deviation is indicated by the positive and negative values of angle) by image analysis calculation angle a.
S24 adjusts the angle of the metope handling machine people, makes the angle in the first preset range.
According to the angle of angle a, the processor control steering assembly rotation of robot rotates respective corners according to respective direction
Degree, is reduced to the angle a in the first preset range.In the present embodiment, the first 0.05 ° of preset range value, it is preferred that need
It is parallel with the reference line 221 to turn to the laser rays 242, i.e. the first preset range is 0 °.
S25 obtains the image of the laser rays by camera again.
After completing angle adjustment, is taken pictures by camera and obtain the position of the laser rays 242 on transparent panel 23, such as Fig. 6 again
It is shown.
S26 calculates the laser rays at a distance from the reference line of camera.
Referring to Fig. 6, laser rays 242 and reference line 221 are wanted since the operation distance of robot is not up to close to parallel
It asks, so there are a certain distance b between laser rays 242 and reference line 221, passes through distance b described in image analysis calculation.
S27 adjusts the position of the metope handling machine people, makes the distance in the second preset range.
First calculate imaging scale, the i.e. ratio that corresponds to physical length of length on image for camera, further according to it is described away from
Imaging scale from b and camera, calculating robot need the displacement moved.Processor command displacement component moves forward or back corresponding
Displacement, make the error of operation distance in the second preset range, in the present embodiment, the second preset range value 0.5mm, preferably
, it is overlapped the laser rays 242 with the reference line 221.
After completing accuracy correction, reference line is almost overlapped with laser rays, and it is default that the distance of reference line to metope is equal to first
Distance；Pass through the distance between the work surface of robot and camera reference line known to the internal reference setting of robot；Two apart from phase
Add the work surface that can be obtained robot at a distance from metope, i.e. operation distance.Further, it may be selected and work surface be at one
Camera reference line in plane is camera reference line, then operation distance is equal to the first pre-determined distance.In this way, can be according to robot
Job requirements, the position of reasonable placement laser obtain desired operation distance.
The present embodiment is analyzed by the image that the precision alignment device to above-described embodiment is got, and can be analyzed
Deviation on subtle angle and distance, and adjust accordingly, so that robot and metope is guaranteed certain operation distance, and make
Industry flatness is also protected.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of precision alignment device of metope handling machine people characterized by comprising laser and precision determination component；
It is parallel with metope that the laser emits laser-formed laser datum face, and apart from the first pre-determined distance of metope；
The precision determination component includes: transparent panel and at least one camera；
Wherein, one end of the transparent panel is fixedly connected with the metope handling machine people towards the one side of metope, the other end
Extend to metope；The camera is arranged in the top of the transparent panel, and the shooting direction of the camera is towards the transparent panel.
2. precision alignment device according to claim 1, which is characterized in that the precision determination component includes at least two
Camera；
Multiple cameras are arranged point-blank, and the work of the executing agency of the straight line and the metope handling machine people
Industry face is parallel；
A wherein reference line for the camera is parallel with the work surface.
3. precision alignment device according to claim 1, which is characterized in that be provided with top above the transparent panel
Plate, the camera are mounted on the upper plate.
4. a kind of metope handling machine people characterized by comprising the described in any item precision contraposition dresses of claims 1 to 3
It sets, processor and mobile alignment device；
The mobile alignment device includes the steering assembly and displacement component for being mounted on the chassis of the metope handling machine people；
The processor is used to analyze the image of the precision alignment device acquisition, controls the mobile contraposition based on the analysis results
Device completes accuracy correction.
5. a kind of accuracy correcting method of metope handling machine people, is executed by metope handling machine people as claimed in claim 4,
It is characterized by:
The laser rays on transparent panel is fallen in by the laser datum face that camera obtains laser；
Calculate separately the angle and distance of the reference line of the laser rays and camera；
According to the angle and the distance, the angles and positions of the metope handling machine people are adjusted separately.
6. accuracy correcting method according to claim 5, which is characterized in that calculate separately the base of the laser rays and camera
The angle and distance of directrix adjust separately angle and the position of the metope handling machine people according to the angle and the distance
It sets, comprising:
Calculate the angle of the reference line of the laser rays and camera；
The angle for adjusting the metope handling machine people, makes the angle in the first preset range；
After adjustment angle, the laser rays is obtained again by camera, calculate the laser rays at a distance from the reference line of camera；
The position for adjusting the metope handling machine people, makes the distance in the second preset range.
7. accuracy correcting method according to claim 5, which is characterized in that obtain the laser datum of laser by camera
Face is fallen in front of the laser rays on transparent panel, further includes:
Choose the smooth place on metope；
Laser is placed in the front at the smooth place, it is parallel with the smooth place to make the laser datum face of laser, and apart
First pre-determined distance.
8. accuracy correcting method according to claim 5, which is characterized in that calculate separately the base of the laser rays and camera
Before the angle and distance of directrix, further includes:
Choosing any reference line parallel with the work surface of executing agency of the metope handling machine people in camera is benchmark line.
9. accuracy correcting method according to claim 6, which is characterized in that adjust the angle of the metope handling machine people
Degree, makes the angle in the first preset range, comprising:
The angle for adjusting the metope handling machine people keeps the laser rays parallel with the reference line.
10. accuracy correcting method according to claim 6, which is characterized in that adjust the position of the metope handling machine people
It sets, makes the distance in the second preset range, comprising:
The position for adjusting the metope handling machine people, is overlapped the laser rays with the reference line.
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| CN201910816746.2A CN110528830A (en) | 2019-08-30 | 2019-08-30 | Metope handling machine people and its precision alignment device and accuracy correcting method |
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| CN201910816746.2A CN110528830A (en) | 2019-08-30 | 2019-08-30 | Metope handling machine people and its precision alignment device and accuracy correcting method |
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Family
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Cited By (8)
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| CN111156899A (en) * | 2020-02-18 | 2020-05-15 | 广东博智林机器人有限公司 | Vision measurement device and method and robot |
| CN111203766A (en) * | 2020-04-20 | 2020-05-29 | 广东博智林机器人有限公司 | Wall surface polishing path planning method, device, equipment and medium |
| CN111546156A (en) * | 2020-04-07 | 2020-08-18 | 广东博智林机器人有限公司 | Polishing equipment |
| CN111576803A (en) * | 2020-04-26 | 2020-08-25 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Wall surface construction robot and wall surface robot control method |
| CN113359701A (en) * | 2021-05-08 | 2021-09-07 | 西安交通大学 | Spraying robot wall-following navigation movement method and system based on laser radar data |
| CN114541676A (en) * | 2022-03-11 | 2022-05-27 | 筑橙科技(深圳)有限公司 | Exterior wall putty scraping method and device based on mechanical arm |
| CN115233991A (en) * | 2021-04-23 | 2022-10-25 | 广东博智林机器人有限公司 | Construction equipment and operation method of construction equipment |
| CN115256084A (en) * | 2022-06-16 | 2022-11-01 | 深圳大方智能科技有限公司 | Ground flatness detection processing method for ground grinding robot |
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| CN111576803A (en) * | 2020-04-26 | 2020-08-25 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Wall surface construction robot and wall surface robot control method |
| CN115233991A (en) * | 2021-04-23 | 2022-10-25 | 广东博智林机器人有限公司 | Construction equipment and operation method of construction equipment |
| CN113359701A (en) * | 2021-05-08 | 2021-09-07 | 西安交通大学 | Spraying robot wall-following navigation movement method and system based on laser radar data |
| CN114541676A (en) * | 2022-03-11 | 2022-05-27 | 筑橙科技(深圳)有限公司 | Exterior wall putty scraping method and device based on mechanical arm |
| CN115256084A (en) * | 2022-06-16 | 2022-11-01 | 深圳大方智能科技有限公司 | Ground flatness detection processing method for ground grinding robot |
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