CN104526704A - Automatic moving robot for carving vertical surface relief - Google Patents
Automatic moving robot for carving vertical surface relief Download PDFInfo
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- CN104526704A CN104526704A CN201410673880.9A CN201410673880A CN104526704A CN 104526704 A CN104526704 A CN 104526704A CN 201410673880 A CN201410673880 A CN 201410673880A CN 104526704 A CN104526704 A CN 104526704A
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Abstract
The invention provides an automatic moving robot for carving a vertical surface relief. According to the technical scheme, the automatic moving robot is that three ranging points are arranged on the surface opposite to the vertical surface to be carved, then a coordinate system is created, and coordinate points of the vertical surface to be carved and the three ranging points are respectively input to a control system; the three-dimensional data of the relief to be carved are input to the control system; when the robot works, a ranging system measures the range information of the three ranging points, calculates the coordinate position of the robot and then works according to the position, so as to finish the processing of the relief. According to the automatic moving robot for carving the vertical surface relief, the ranging system in the modern surveying and mapping technology is utilized; the coordinate information of the robot can be measured with a large range; when mounting a large-range working surface such as a mountain and a wall, identifying points are not needed to be arranged in a processing area, so that the problem that some processing in the large range cannot be carried out due to the lack of the identifying points can be overcome, and as a result, the applicable scope of the system can be expanded; meanwhile, the application cost is decreased; a low-precision relief within a large range can be processed, and a practical automation scheme is provided.
Description
Technical field:
The invention belongs to industrial robot applied technical field, particularly a kind of automatic walking robot for vertical plane cameo.
Background technology:
Robot (Robot) is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.Its task assists or replace the work of human work, such as production industry, building industry, or the work of danger.Robot is generally made up of executing agency, drive unit, checkout gear and control system and complicated machinery etc.
From applied environment, robot is divided into two large classes, i.e. industrial robot and specialized robot.Industrial robot is exactly multi-joint manipulator towards industrial circle or multi-freedom robot.Industrial robot is the installations automatically performing work, is to lean on self power and control ability to realize a kind of machine of various function.It can accept mankind commander, also can run according to the program of layout in advance, the principle guiding principle action that modern industrial robot can also be formulated according to artificial intelligence technology.Industrial robot is made up of main body, drive system and control system three essential parts.Main body and support and executing agency, comprise arm, wrist and hand, some robots also have walking mechanism.There are 3 ~ 6 freedoms of motion in most industry robot, and wherein wrist has 1 ~ 3 freedom of motion usually; Drive system comprises power set and transmission mechanism, produces corresponding action in order to make executing agency; Control system sends command signal according to the program of input to drive system and executing agency, and control.Industrial robot is divided into four kinds by the forms of motion of arm.The arm of cartesian co-ordinate type can move along three rectangular co-ordinates; The arm of circular cylindrical coordinate type can be elevated, turn round and expanding-contracting action; The arm of spherical coordinates type can turn round, pitching and flexible; The arm of joint type has multiple cradle head.Industrial robot, again can branch bit-type and continuous path type by the Control function of executing agency's motion.Point bit-type only controls the accurate location that executing agency is put to another by a bit, is applicable to the operations such as lathe loading and unloading, spot welding and general carrying, handling; Continuous path type can control executing agency and move by given trace, is applicable to the operation such as continuous welding and application.Industrial robot follow procedure input mode is distinguished imported and imported two classes of teaching of programming.There is sense of touch, power feels or the industrial robot of simple vision, can work under comparatively complex environment; As there is recognition function or further increasing self adaptation, self-learning function, namely become intelligent industrial robot.Free or the self-compiling program of its " macro-instruction " that can give according to people deacclimatizes environment, and automatically completes more complicated work.Industrial robot can substitute more and more expensive labour, can promote operating efficiency and product quality simultaneously.The assembling task of production line precision component can be accepted by robot of Foxconn, more alternatively manually to work in the bad working environments such as spraying, welding, assembling, and can produce in conjunction with Mould Machining with machine-tools such as numerical control ultra-precision iron beds, enhance productivity, Substitute For Partial unskilled worker.Use industrial robot can to reduce the number of rejects and seconds rate and product cost, improve the utilization rate of equipment, reduce the risk etc. that workman's maloperation brings, its a series of benefits brought are also fairly obvious, such as, reduce labo r usage, reduce equipment loss, accelerate technological innovation speed, improve enterprise competitiveness etc.Robot has the ability performing various task particularly high-risk task, and mean time between failures reaches more than 60000 hours, more advanced than traditional automation process.In developed country, industrial robot automatic production line outfit has become the main flow of automated arm and the developing direction in future.The industries such as Automotive Industry Abroad, electronic enterprises, engineering machinery use industrial robot automatic production line to ensure product quality and production high efficiency in a large number.Typical outfit has limousine housing punching automation systems technology and outfit, heavy-duty machines people automotive body welding automated system technology and the robot such as outfit, electronic apparatus at present.
Rangefinder is a kind of reckoning instrument, for measurement target distance, carries out reckoning.The form of rangefinder is a lot, and a normally microscler cylinder, is made up of object lens, eyepiece, range finding turn-button, is used for measuring target range.
Rangefinder, from range finding general principle, can be divided into following a few class.Laser range finder: laser range finder utilizes laser to carry out the instrument of Accurate Determining to the distance of target.Laser range finder is operationally to a branch of very thin laser of target injection, and the laser beam reflected by photoelectric cell receiving target, timer measures laser beam from the time being transmitted into reception, calculates from observer's range-to-go.Laser range finder is current the most widely used rangefinder, and laser range finder can be categorized as again hand-held laser rangefinder (measuring distance 0-300 rice), telescope laser range finder (measuring distance 500-3000 rice).Ultrasonic wave distance meter: ultrasonic range finder runs into according to ultrasonic wave the characteristic that barrier reflects to carry out measuring.Ultrasonic transmitter launches ultrasonic wave to a direction, and start timing in transmitting, ultrasonic wave is propagated in atmosphere simultaneously, encounters barrier and just return immediately in way, and ultrasonic receiver receives back wave and just interrupts immediately stopping timing.Run into by constantly detecting to produce after ripple is launched the echo that barrier reflects, thus measure the time difference T launching ultrasonic wave and receive echo, then obtain distance L.Ultrasonic range finder, because ultrasonic wave is comparatively large by surrounding environment influence, so general measure distance is shorter, certainty of measurement is lower.The current scope of application is not very wide, but price comparison is low, about general hundreds of unit.Infrared range-measurement system: the instrument carrying out precise distance measurement with the infrared light of modulation, ranging is generally 1-5 kilometer.What utilize is the indiffusion principle of infrared ray when propagating: because infrared ray refractive index when passing through other material is very little, so the rangefinder of long distance all can consider infrared ray, and ultrared propagation needs the time, encounter reverberation be reflected back that to be received by rangefinder be cheap according to infrared ray from the advantage being issued to time of being accepted to and ultrared spread speed and just can calculating distance infrared distance measurement again when infrared ray sends from rangefinder, easy system, safety, shortcoming is that precision is low, distance is near, and directionality is poor.
Summary of the invention:
The present invention is directed to vertical plane or the cameo close to vertical inclined plane on a large scale, a kind of automatic walking robot for vertical plane cameo is proposed, its technical scheme is needing the vertical plane opposite of engraving to set up three point distance measurements, then set up coordinate system, the coordinate points of vertical plane to be carved and three point distance measurements is distinguished input control system; Meanwhile, the relief three-dimensional data message input control system of engraving will be needed; Machine man-hour, records the range information with three point distance measurements by self range-measurement system, calculates self place coordinate position, and then position work accordingly, completes the processing of embossment.
Three range finding identification points are not on same straight line, and three any point of finding range in identification points and robot working range are not in same plane.
Automatic running gear is installed by robot, can move forward and backward up and down, but not according to travel distance determination own location information; Running gear is wheeled, crawler type wherein one or both.
Range-measurement system is installed by robot, and distance-finding method is one or more in laser ranging, supersonic sounding, infrared distance measurement, electromagnetic distance measurement, tellurometer survey.
Beneficial effect:
The present invention utilizes the range-measurement system in modern survey and draw technology, can on a large scale in record the coordinate information of robot, when the large-scale working face of processing is as massif, wall, identification point can be set in machining area, overcome some that cause due to cannot identification point be arranged and process the problem that cannot carry out on a large scale, expand systematic difference scope, reduce application cost simultaneously, for the low precision embossment processing on a large scale, it is a practical automation scheme.
Accompanying drawing illustrates:
Fig. 1 is robot localization and operating diagram
Reference numeral: 1. find range identification point, 2. robot, 3. embossment
Detailed description of the invention:
For better the present invention being described, be convenient to understand technical scheme of the present invention, typical but non-limiting embodiment of the present invention is as follows.
Composition graphs illustrates a kind of automatic walking robot for vertical plane cameo mentioned by content of the present invention, for wall cameo.
Set up three point distance measurements on needs wall opposite, then set up coordinate system, the coordinate points of wall and three point distance measurements is distinguished input control system; Meanwhile, the relief three-dimensional data message input control system of engraving will be needed; Machine man-hour, records the range information with three point distance measurements by self range-measurement system, calculates self place coordinate position, and then position work accordingly, completes the processing of embossment.
Three range finding identification points are not on same straight line, and three any point of finding range in identification points and robot working range are not in same plane.
Automatic running gear is installed by robot, can move forward and backward up and down, but not according to travel distance determination own location information; Running gear is wheeled.
Range-measurement system is installed by robot, and distance-finding method is the range finding of laser ranging composite ultraphonic.
Applicant states, above content is in conjunction with concrete preferred embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (4)
1. for an automatic walking robot for vertical plane cameo, it is characterized in that: set up three point distance measurements on the vertical plane opposite of needs engraving, then set up coordinate system, the coordinate points of vertical plane to be carved and three point distance measurements is distinguished input control system; Meanwhile, the relief three-dimensional data message input control system of engraving will be needed; Machine man-hour, records the range information with three point distance measurements by self range-measurement system, calculates self place coordinate position, and then position work accordingly, completes the processing of embossment.
2. the automatic walking robot according to right 1, is characterized in that: three range finding identification points are not on same straight line, and three any point of finding range in identification points and robot working range are not in same plane.
3. the automatic walking robot according to right 1, is characterized in that: automatic running gear is installed by robot, can move forward and backward up and down, but not according to travel distance determination own location information; Running gear is wheeled, crawler type wherein one or both.
4. the automatic walking robot according to right 1, is characterized in that: range-measurement system is installed by robot, and distance-finding method is one or more in laser ranging, supersonic sounding, infrared distance measurement, electromagnetic distance measurement, tellurometer survey.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410673880.9A CN104526704A (en) | 2014-11-21 | 2014-11-21 | Automatic moving robot for carving vertical surface relief |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410673880.9A CN104526704A (en) | 2014-11-21 | 2014-11-21 | Automatic moving robot for carving vertical surface relief |
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| CN104526704A true CN104526704A (en) | 2015-04-22 |
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| CN201410673880.9A Pending CN104526704A (en) | 2014-11-21 | 2014-11-21 | Automatic moving robot for carving vertical surface relief |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201922825U (en) * | 2011-02-09 | 2011-08-10 | 邢刚 | Movement mechanism of wax engraving machine |
| US20120002019A1 (en) * | 2010-06-30 | 2012-01-05 | Takashi Hashimoto | Multiple viewpoint imaging control device, multiple viewpoint imaging control method and conputer readable medium |
| CN203031609U (en) * | 2012-12-19 | 2013-07-03 | 西安理工大学 | Robot capable of imitating writing of person |
| CN103909776A (en) * | 2012-12-31 | 2014-07-09 | 北京建筑工程学院 | Numerical control precise wood carving processing system |
| CN104090261A (en) * | 2014-06-26 | 2014-10-08 | 西安电子工程研究所 | Positioning method adopting distance modeling in TDOA positioning system |
-
2014
- 2014-11-21 CN CN201410673880.9A patent/CN104526704A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120002019A1 (en) * | 2010-06-30 | 2012-01-05 | Takashi Hashimoto | Multiple viewpoint imaging control device, multiple viewpoint imaging control method and conputer readable medium |
| CN201922825U (en) * | 2011-02-09 | 2011-08-10 | 邢刚 | Movement mechanism of wax engraving machine |
| CN203031609U (en) * | 2012-12-19 | 2013-07-03 | 西安理工大学 | Robot capable of imitating writing of person |
| CN103909776A (en) * | 2012-12-31 | 2014-07-09 | 北京建筑工程学院 | Numerical control precise wood carving processing system |
| CN104090261A (en) * | 2014-06-26 | 2014-10-08 | 西安电子工程研究所 | Positioning method adopting distance modeling in TDOA positioning system |
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Application publication date: 20150422 |