CN107791250B - Working at height robot system and its control method - Google Patents
Working at height robot system and its control method Download PDFInfo
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- CN107791250B CN107791250B CN201710997445.5A CN201710997445A CN107791250B CN 107791250 B CN107791250 B CN 107791250B CN 201710997445 A CN201710997445 A CN 201710997445A CN 107791250 B CN107791250 B CN 107791250B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of working at height robot system and its control method, the working at height robot system includes：Working at height robot, image acquisition units, image processing unit and long-range display processing unit；Image acquisition units are set in the working at height robot；Long-range display processing unit is used for the working at height environment that real-time display described image collecting unit obtains, so that operator observes the object of reference shown in image and therefrom selection working at height robot operational process；Image processing unit is set to working at height robot or long-range display processing unit, and processing in real time is carried out to the working at height ambient image of acquisition to determine working at height robot running position for obtaining working at height environment, and according to selected object of reference；The working at height robot implements working at height according to the positioning of described image processing unit.The system can automatic identification working at height environment, and working at height is instructed according to operating environment.
Description
Technical field
The present invention relates to working at height technical field, more particularly to a kind of working at height robot system and its controlling party
Method.
Background technology
In the field of operating mode danger, robot replacement is manually an irreversible trend, especially in building glass
Curtain wall installs the occasions such as cleaning, exterior wall finishing, and future carries out operation by more and more using robot.Current external wall is made
The equipment of industry is main or traditional equipment, most of use hang a hanging basket under loop wheel machine, and worker station carries out operation on hanging basket.People
Work judges working environment, the position for needing operation, needs to carry out the object of operation, carries out working at height.
Currently, existing working at height robot is also only that the worker of implementation working at height is changed into robot, operate
Personnel are tentatively realized robot and substituted manually by checking remote monitoring, being controlled using wireless remote control.But machine
People is still not smart enough, it is still desirable to which a large amount of worker's control can not achieve automatic running, can not accomplish unattended or one
People controls more machines.Every machine has to be equipped with a people to manipulate, and efficiency is also unable to get very big promotion, even
It can be understood as reducing a kind of scheme of working efficiency to a certain extent to ensure safety of workers.
It can be seen that the prior art also has many unsatisfactory places, need further to working at height robot into
Row improves, to improve working at height machine task efficiency.
Invention content
In view of this, the purpose of the present invention is to provide a kind of working at height robot and its control method, it is existing to solve
Some ineffective problems of working at height robot.
In order to solve the above technical problems, the present invention provides a kind of working at height robot system, including：Working at height machine
People, image acquisition units, image processing unit and long-range display processing unit；
Described image collecting unit is set in the working at height robot, for acquiring working at height environment；
The long-range display processing unit is used for the working at height environment that real-time display described image collecting unit obtains, with
The object of reference shown in image and therefrom selection working at height robot operational process is observed for operator；
Described image processing unit is set to the working at height robot or the long-range display processing unit, for obtaining
The working at height environment for taking described image collecting unit to acquire, and according to selected object of reference to the working at height environment of acquisition
Image carries out processing in real time to determine working at height robot running position；
The working at height robot implements working at height according to the positioning of described image processing unit.
Optionally, the working at height environment that described image processing unit obtains the acquisition of described image collecting unit includes building
Straight line corresponding to any one straight line of metope or any glass frame, and implement working at height in the working at height robot
The moment measures position of this straight line in the image that described image collecting unit obtains working at height environment in the process, and passes through meter
It calculates the change in location between the straight line and object of reference and judges whether the working at height robot shifts.
Optionally, the long-range display processing unit includes display screen and operation sequence, and the display screen is for aobvious in real time
Show the working at height image acquired in image acquisition units, the operation sequence is for selecting and confirming in working at height environment
Object of reference.
Optionally, further include wireless router, the working at height robot by the wireless router with it is described remote
Journey display processing unit carries out information exchange.
Optionally, it is provided with deviation correcting device in the working at height robot, when the working at height robot occurs partially
When shifting, rectified a deviation to the working at height robot by the deviation correcting device.
Optionally, the working at height environment that described image processing unit obtains the acquisition of described image collecting unit includes hindering
The barrier of the working at height robot operation, when described image processing unit recognizes barrier and the working at height machine
When the distance between device people is less than preset value, the working at height robot carries out obstacle detouring operation.
Optionally, the barrier is glass frame outstanding, external draining/discharge duct or balcony outstanding.
The present invention also provides a kind of control methods of working at height robot system, include the following steps：
Working at height environment is acquired using image acquisition units；
A certain characteristics of image is selected from the image shown by the long-range display processing unit to be used as with reference to object；
Image processing unit carries out image recognition according to above-mentioned reference substance in the image collected, to be positioned
Information；
The working at height robot implements working at height according to the above-mentioned location information.
Optionally, the working at height robot works in outside glass curtain wall, and the glass frame of the glass curtain wall is straight
Line；
The working at height robot implements working at height according to the above-mentioned location information and specifically includes：
Described image processing unit identifies the straight line corresponding to any one glass frame, and in the working at height robot
The moment measures the distance away from this straight line during implementing working at height, then according to working at height machine described in the Distance Judgment
Whether people shifts.
Optionally, the working at height robot further includes specifically according to the above-mentioned location information implementation working at height：
Described image processing unit identifies the barrier in working at height environment, when described image processing unit recognizes barrier
When the distance between object and the working at height robot being hindered to be less than preset value, the working at height robot carries out obstacle detouring behaviour
Make.
In working at height robot system provided by the invention and its control method, pass through image acquisition units and image
Processing unit obtains and identifies working at height environment, and image processing unit is according to the working at height environment that is identified and selected
Object of reference instructs working at height robot to carry out positioning or the working at height such as obstacle detouring automatically, realizes completely unattended or one
People manages more machines, saves human cost, and keep working at height robot system more intelligent；On the other hand, pass through image
Processing unit realizes the positioning of working at height robot with image acquisition units, more accurate compared to GPS positioning.
Description of the drawings
Fig. 1 is the schematic diagram of one embodiment of the invention high and medium checking job robot system；
Fig. 2 is the control flow chart of one embodiment of the invention high and medium checking job robot system.
In figure：10- working at height robot；11- operation units；12- image acquisition units；13- deviation correcting devices；20- is remote
Journey display processing unit；21- image processing units；30- wireless routers；40- ropes；50- external walls.
Specific implementation mode
Core of the invention thought is by adding image acquisition units on the operation unit of working at height robot
(video camera generally can be used), obtain working at height environment, image processing unit obtains and identifies working at height environment, remote
Object of reference is selected and determined on journey display processing unit, and operation unit is instructed to complete relevant working at height accordingly.Existing side
Case is main or realizes that it is artificial that machine substitutes by checking monitoring, the method for remote manual control.And the present invention can be by image at
Manage unit and identify operating mode, and by the carry out working at height of long-range display processing unit intelligence, may be implemented it is complete unattended or
One people of person manages more machines, saves human cost.
Below in conjunction with the drawings and specific embodiments to working at height robot system proposed by the present invention and its control method
It is described in further detail.According to claims and following explanation, advantages and features of the invention will become apparent from.It should be noted
That attached drawing is all made of very simplified form and uses non-accurate ratio, only to it is convenient, lucidly aid in illustrating this hair
The purpose of bright embodiment.
Embodiment one
Refering to fig. 1, the present embodiment provides a kind of working at height robot systems, including：Working at height robot 10, image
Collecting unit 12, image processing unit 21 and long-range display processing unit 20；Wherein working at height robot 10 at work by
Rope 40 is hung in 50 outside of external wall.
Working at height robot 10 includes operation unit 11；Operation unit 11 is cleaning component, painting component, weld part
Any one in part, gluing component or installing component, for completing relevant working at height.Long-range display processing unit 20
Including image processing unit 21, image processing unit 21 obtains and identifies the working at height environment that image acquisition units 12 are shot,
Long-range display processing unit 20 instructs working at height robot 10 to implement relevant working at height automatically according to working at height environment,
So as to realize that a unattended or people for working at height robot system manages more machines, human cost is saved.Its
In, long-range display processing unit 20 includes display screen and operation sequence, and display screen is obtained for real-time display image acquisition units
The working at height image taken, the operation sequence is for selecting and confirming the object of reference in working at height environment.Certainly, at image
Reason unit 21 can also be arranged in working at height robot 10, be directly electrically connected with image acquisition units 12.Image Acquisition list
Member 12 is set in the working at height robot 10, for acquiring working at height environment；Described image processing unit 21 is arranged
In the working at height robot 10 or the long-range display processing unit 20, for obtaining the acquisition of described image collecting unit
Working at height environment, and processing in real time is carried out to determine high-altitude to the working at height ambient image of acquisition according to selected object of reference
Work robot running position information；The long-range display processing unit 20 becomes according to the image of working at height environment on display screen
Change and positions the working at height robot 10；The working at height robot 10 determines according to the long-range display processing unit 20
Implement working at height in position.
Further, further include wireless router 30, the height in working at height robot system provided in this embodiment
Idle job robot 10 carries out information exchange by the wireless router 30 and the long-range display processing unit 20.Certainly,
Working at height robot 10 can also complete information exchange with long-range display processing unit 20 by wired mode, herein not
It gives and repeating.
For the glass curtain wall without prominent frame, the both sides of working at height robot 10 does not prevent its double swerve
Protrusion frame, working at height robot 10 can suffer a problem that in the air in height, be exactly that high altitude wind is bigger, can high-altitude
Work robot 10 is blown partially, and long-range display processing unit 20 will be able to know that the position that working at height robot 10 deviates, ability
Enough reasonably error correct devices 13 is rectified a deviation, and the requirement of positioning is much not achieved using GPS location precision.In this regard,
This implementation provides the following technical solutions：
In this embodiment, the working at height environment of 12 acquisition of the acquisition described image of image processing unit 21 collecting unit includes
Straight line corresponding to any one straight line of building wall or any glass frame, and implement high-altitude in the working at height robot 10
The moment measures position of this straight line in the image that described image collecting unit obtains working at height environment during operation, and
Judge whether the working at height robot shifts according to change in location.Specifically, working at height robot 10 works in
Outside glass curtain wall, the glass frame of glass curtain wall is straight line, and described image processing unit 21 identifies that any one glass frame institute is right
The straight line answered, and as basis of reference, during working at height robot 10 implements working at height the moment it is straight to measure this
Then whether the distance between line and object of reference shift according to the Distance Judgment working at height robot 10.For example, when should
When distance changes, then prove that working at height robot 10 more or less deviates former setting position, when deviation distance reaches
To after preset value, working at height robot 10 can be controlled by long-range display processing unit 20 and carry out rectification work.It can be seen that
Image processing unit 21 in this implementation also has the effect positioned.It is this fixed in compared with prior art by the way of GPS positioning
Position mode is more accurate.Certainly, the application is not limited to glass frame as unique object of reference, other any type of objects of reference
(such as wall turning, external draining/discharge duct etc.) can be used as the identification object of image processing unit 21.
Further, working at height robot 10 further includes deviation correcting device 13, and deviation correcting device 13 is arranged in operation unit 11
On, when working at height robot 10 shifts, the working at height robot 10 can be entangled by deviation correcting device 13
Partially.In general, the deviation correcting device is wind turbine, operation principle is similar to propeller, is pushed by the reaction force of air high
The direction movement of idle job robot 10 as desired.
Working at height robot 10 further encounters a problem when operation, seeks to cognitive disorders object, main
Barrier be the outstanding frame of glass or more, when about 10 washing and cleaning operation of working at height robot, working at height
When the operation unit 11 of robot 10 is encountered or will encounter glass frame, robot will be it is to be understood that oneself will encounter obstacle
Then object can just remove obstacle detouring.Therefore, the obstacle recognition in 10 operation process of working at height robot is extremely important.Using this
The working at height robot system that embodiment provides, described image processing unit 21 can recognize that the obstacle in working at height environment
Object is less than preset value when described image processing unit 21 recognizes the distance between barrier and the working at height robot 10
When, the long-range display processing unit 20 instruct automatically the obstacle detouring component (not shown) of the working at height robot 10 into
Row obstacle detouring operates, so that the working at height robot 10 clears the jumps.Specifically, working at height robot 10 works in glass
Outside glass curtain wall, the barrier is glass frame, and image processing unit 21 identifies glass frame, and information is fed back to long-range show
Show that the control unit (not shown) in processing unit 20, control unit control the obstacle detouring component in working at height robot 10
Obstacle detouring operation is carried out, so that the working at height robot 10 clears the jumps.The detailed process of obstacle detouring operation can be according to industry
Conventional design, it will not be described here.The barrier that image processing unit 21 can identify can be not limited to outstanding glass
The balcony etc. of frame, external draining/discharge duct, prominent exterior wall.
Further, working at height robot 10 further includes that the mobile unit being connect with the operation unit (is not shown in figure
Go out), for driving working at height robot to move up and down.According to above-mentioned deviation correcting device 13, deviation correcting device 13 is mainly used for height
The left and right position of idle job robot 10 is adjusted, the working at height robot under deviation correcting device 13 and the co- controlling of mobile unit
10 remain in metastable position the working at height for carrying out high efficiency smart.
Embodiment two
Based on the working at height robot system that embodiment one provides, the present embodiment provides a kind of systems of working at height robot
The control method of system, includes the following steps：
Working at height environment is acquired using image acquisition units 12；
A certain characteristics of image is selected from the image shown by the long-range display processing unit 20 to be used as with reference to object；
Image processing unit 21 carries out image recognition according to above-mentioned reference substance in the image collected, to be determined
Position information；
The working at height robot implements working at height according to the above-mentioned location information.
Specifically, referring to Fig.2, the control flow that it illustrates working at height robot systems before work and in work
Figure.The image information of working at height construction object is obtained by described image collecting unit 12 or other image capture devices；?
The image information of 20 real-time display working at height of long-range display processing unit construction object, by long-range display processing list
Any straight line directly selected in member 20 on image determines object of reference used for positioning in aerial lift device operation process, also may be used
To first pass through the picture for first inputting other collecting devices and obtaining working at height construction object, appointing in the input picture is then selected
One straight line determines object of reference used for positioning in aerial lift device operation process；Described image processing unit 21 is true according to operation
Determine the coordinate of selected element, and automatically selects the distance coordinate is nearest in image straight line and in the long-range display processing list
It is marked in member 20, after need to manually determining, image processing unit 21 records the object of reference straight line and the accurate position in picture
It sets；During working at height, described image collecting unit object of acquisition construction in real time in aerial lift device motion process
Image carries out image recognition and compares with selected object of reference to set to calculate working at height by described image processing unit 21
Whether standby current location has deviation, and the lasting accurate positionin of aerial lift device is realized with this.
Specifically, the working at height robot 10 works in outside glass curtain wall, the glass frame of the glass curtain wall is
Straight line；The wherein described working at height robot implements working at height according to the above-mentioned location information and specifically includes：Image procossing
Unit 21 identifies the straight line corresponding to any one glass frame, and implements the mistake of working at height in the working at height robot 10
The moment measures this straight line at a distance from referring initially to object in journey, is then according to working at height robot 10 described in the Distance Judgment
It is no to shift.
Further, the working at height robot further includes specifically according to the above-mentioned location information implementation working at height：
Image processing unit 21 identifies the barrier in working at height environment, when described image processing unit 21 recognizes barrier and institute
When stating the distance between working at height robot 10 less than preset value, the working at height robot 10 carries out obstacle detouring operation.
In conclusion in working at height robot system provided by the invention and its control method, pass through Image Acquisition
Unit and image processing unit obtain and identify working at height environment, and image processing unit is according to the working at height environment identified
And selected object of reference instructs working at height robot to carry out positioning or the working at height such as obstacle detouring automatically, realize it is complete nobody
Operation or a people manage more machines, save human cost, and keep working at height robot system more intelligent；Another party
The positioning of working at height robot is realized in face by image processing unit and image acquisition units, more smart compared to GPS positioning
Really.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For system disclosed in embodiment
For, due to corresponding to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part illustration
?.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims
Range.
Claims (9)
1. a kind of working at height robot system, which is characterized in that including：Working at height robot, image acquisition units, image
Processing unit and long-range display processing unit；
Described image collecting unit is set in the working at height robot, for acquiring working at height environment；
The long-range display processing unit is used for the working at height environment that real-time display described image collecting unit obtains, for behaviour
Author observes the object of reference shown in image and therefrom selection working at height robot operational process；
Described image processing unit is set to the working at height robot or the long-range display processing unit, for obtaining
The working at height environment of image acquisition units acquisition is stated, and according to selected object of reference to the working at height ambient image of acquisition
Processing in real time is carried out to determine working at height robot running position；
The working at height robot implements working at height according to the positioning of described image processing unit；
The working at height environment that described image processing unit obtains the acquisition of described image collecting unit includes that building wall is any one
Straight line corresponding to straight line or any glass frame, and the moment during working at height robot implements working at height
Measure this straight line described image collecting unit obtain working at height environment image in position, and by calculate the straight line with
Change in location between object of reference judges whether the working at height robot shifts.
2. working at height robot system as described in claim 1, which is characterized in that the long-range display processing unit includes
Display screen and operation sequence, the display screen are described for the working at height image acquired in real-time display image acquisition units
Operation sequence is for selecting and confirming the object of reference in working at height environment.
3. working at height robot system as described in claim 1, which is characterized in that further include wireless router, the height
Idle job robot carries out information exchange by the wireless router and the long-range display processing unit.
4. working at height robot system as described in claim 1, which is characterized in that be arranged in the working at height robot
There is deviation correcting device, when the working at height robot shifts, by the deviation correcting device to the working at height machine
People rectifies a deviation.
5. working at height robot system as described in claim 1, which is characterized in that described in described image processing unit obtains
The working at height environment of image acquisition units acquisition includes the barrier for hindering the working at height robot operation, when the figure
When recognizing the distance between barrier and the working at height robot less than preset value as processing unit, the working at height
Robot carries out obstacle detouring operation.
6. working at height robot system as claimed in claim 5, which is characterized in that the barrier is glass edge outstanding
Frame, external draining/discharge duct or balcony outstanding.
7. a kind of control method of working at height robot system as described in claim 1~6 any one, feature exist
In including the following steps：
Working at height environment is acquired using image acquisition units；
A certain characteristics of image is selected from the image shown by the long-range display processing unit to be used as with reference to object；
Image processing unit carries out image recognition according to above-mentioned reference substance in the image collected, to obtain location information；
The working at height robot implements working at height according to above-mentioned location information.
8. the control method of working at height robot system as claimed in claim 7, which is characterized in that the working at height machine
Device people works in outside glass curtain wall, and the glass frame of the glass curtain wall is straight line；
The working at height robot implements working at height according to above-mentioned location information and specifically includes：
Described image processing unit identifies the straight line corresponding to any one glass frame, and implements in the working at height robot
The moment measures the distance away from this straight line during working at height, is then according to working at height robot described in the Distance Judgment
It is no to shift.
9. the control method of working at height robot system as claimed in claim 7 or 8, which is characterized in that make in the high-altitude
Industry robot implements working at height according to above-mentioned location information：
Described image processing unit identifies the barrier in working at height environment, when described image processing unit recognizes barrier
When the distance between described working at height robot is less than preset value, the working at height robot carries out obstacle detouring operation.
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| CN201710997445.5A CN107791250B (en) | 2017-10-17 | 2017-10-17 | Working at height robot system and its control method |
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|---|---|---|---|
| CN201710997445.5A CN107791250B (en) | 2017-10-17 | 2017-10-17 | Working at height robot system and its control method |
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| CN107791250A CN107791250A (en) | 2018-03-13 |
| CN107791250B true CN107791250B (en) | 2018-11-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110328658B (en) * | 2019-07-15 | 2021-09-24 | 上海霄卓机器人有限公司 | Modular assembled high-altitude operation robot system |
| CN110495826A (en) * | 2019-09-20 | 2019-11-26 | 张哲� | High altitude operation robot |
| CN115435840B (en) * | 2022-09-14 | 2023-06-27 | 广州安德信幕墙有限公司 | Curtain wall safety detection system based on big data and robot applying same |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203314876U (en) * | 2013-06-07 | 2013-12-04 | 蒋贞荣 | Automatic cleaning system for glass curtain wall of tall building |
| CN104887159A (en) * | 2015-06-24 | 2015-09-09 | 苏州艾士德机械有限公司 | Aerial cleaning robot and cleaning method |
| CN106444737A (en) * | 2016-05-22 | 2017-02-22 | 武汉市享昱科技有限公司 | Control system of obstacle-crossing wall surface cleaning robot |
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130086882A (en) * | 2012-01-26 | 2013-08-05 | 주식회사 대화산기 | Automatic cleaner of building outer glass wall |
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2017
- 2017-10-17 CN CN201710997445.5A patent/CN107791250B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203314876U (en) * | 2013-06-07 | 2013-12-04 | 蒋贞荣 | Automatic cleaning system for glass curtain wall of tall building |
| CN104887159A (en) * | 2015-06-24 | 2015-09-09 | 苏州艾士德机械有限公司 | Aerial cleaning robot and cleaning method |
| CN106444737A (en) * | 2016-05-22 | 2017-02-22 | 武汉市享昱科技有限公司 | Control system of obstacle-crossing wall surface cleaning robot |
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
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