CN107962594A - Industrialize robot real-time high-precision detection system - Google Patents
Industrialize robot real-time high-precision detection system Download PDFInfo
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- CN107962594A CN107962594A CN201711192336.2A CN201711192336A CN107962594A CN 107962594 A CN107962594 A CN 107962594A CN 201711192336 A CN201711192336 A CN 201711192336A CN 107962594 A CN107962594 A CN 107962594A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/027—Electromagnetic sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
Abstract
The invention discloses one kind industrialization robot real-time high-precision detection system, including：Robot model, the robot model include robot body, robot head, robot arm, robot foot；Detection system and shield heart scanning eye are provided with the robot body, robot head is provided with scanning eye；The detection system includes：Ordinary video search module；Infrared ray search module；Audio search module；And electromagnetic wave search module.The present invention meet it is easy to use on the premise of, it can implement to rescue real-time, detected with high accuracy and alignment system by industrializing robot device under unsafe conditions, ensure rapid, accurate and effective to rescue indicator of trapped personnel, rescue success rate is greatly improved, mitigate the technical guarantee of casualties to greatest extent, meet actual operation requirements.
Description
Technical field
The present invention relates to one kind industrialization robot real-time high-precision detection system, belong to the spy of industrial robot vision's servo
Survey and induction technology field.
Background technology
With the expansion of the application range of industrial robot and the needs of Various Complex occasion, industrial robot vision's servo
Seem more and more important.In current industrial robot practice, due to positioning accuracy, real-time, calibration etc. is needed to ask
Topic, only few occasion have used Robot Visual Servoing positioning, and with the development of industrial robot industry, industrial robot is gathered around
It will be inexorable trend to have visual servo ability.Real-time is one Robot visual location system effectiveness of verification with positioning accuracy
With can practicality most important two indices, and the key factor that can be put in actual industrial production.It is based on
The robot control of vision is divided into two classes：Location-based visual servo and the visual servo based on image：It is location-based to regard
Feeling in servo robot position fixing process needs to demarcate robot, and there are any error in calibration can all cause robot three
Positioning in dimension space produces certain error (P.I.Corke and S.Hutchinson2001)；In the vision based on image
In servo, small error will have a huge impact robot localization in vision system, thus need to video camera and
The problem of robot is demarcated, and the calibration to video camera and robot is one and its is complicated.Image procossing and control machine
Synchronous real-time is a problem that must be faced between device people movement, therefore, because the delay of image procossing, high accuracy and height
The positioning of the visual servo based on image of real-time is one and is difficult to the completing of the task (Itsushi Kinbara propose one kind
New Visual Servo Robot control system, this system uses the method estimated characteristics of image, but this method begins
The drawbacks of needing to demarcate camera is not broken away from eventually).
As China modernizes, the quickening of Process of Urbanization Construction, scale, height and the span of City Building are all gradual
Increase, the density of population are also gradually increasing.(or sending earthquake disaster) if in the construction process, casualties, building
Extent of the destruction can be more serious relative to other countries, and rescue work difficulty can extremely increase, this is just to personnel reduction technology and equipment
Put forward higher requirements.In order to implement the rescue of effective to trapped person, except emergency relief troop to be ensured reacts fast
Outside fast, mobility height and surprise are strong, it is also important that be equipped with necessary real-time detected with high accuracy equipment, so endangering
The advanced rescue technique to work under the conditions of danger is to improve rescue success rate with equipment, and the technology for mitigating casualties to greatest extent is protected
Barrier.Therefore, ensured in rescue operations under unsafe conditions using advanced real-time detected with high accuracy equipment rapid, accurate and effective
Rescue indicator of trapped personnel, the industrialization robot Lash-up succor system requirement just really to tally with the national condition.For this reason, it may be necessary to design
A kind of new technical solution, can solve the problems, such as to be previously mentioned in above-mentioned background technology.
The content of the invention
The present invention is exactly in view of the deficienciess of the prior art, providing a kind of industrialization robot real-time high-precision detection system
System, meet it is easy to use on the premise of, can implement real-time, high-precision by industrializing robot device under unsafe conditions
Degree detection and alignment system, ensure it is rapid, accurate and effective rescue indicator of trapped personnel, rescue success rate is greatly improved, to greatest extent
Mitigate the technical guarantee of casualties, meet actual operation requirements.
To solve the above problems, the technical solution used in the present invention is as follows：
Robot real-time high-precision detection system is industrialized, including：Robot model, the robot model include machine
Human body, robot head, robot arm, robot foot, the robot head are movably arranged at the top of robot body,
The robot arm is movably arranged on robot body both sides, and the robot foot is movably arranged on robot body lower part；
The robot body is internally provided with detection system, and the robot body center position is provided with shield heart scanning eye, institute
State robot head and be provided with scanning eye；
The detection system includes：
Ordinary video search module；
Infrared ray search module；The human infrared radiation energy that the optical system of the infrared ray search module will receive
Focus on infrared sensor, when human body and optical system relatively move, the energy received changes, sensor
The signal of a change is exported, this signal amplifies, filters, alarm is triggered after differentiation processing and indicates through circuit；
Audio search module；
And electromagnetic wave search module；Being provided with the front end of the electromagnetic wave search module can carry out receiving electromagnetic wave search
The antenna equipment of module, the antenna equipment are scanned for for the distance and orientation of measurement target.
As the improvement of above-mentioned technical proposal, the ordinary video search module is video camera and image capture module, institute
It is sound acquisition module to state audio search module, and the shield heart scanning eye passes through electric signal and the detection system with scanning eye
Connection.
As the improvement of above-mentioned technical proposal, the robot foot bottom is provided with prewarning unit, the prewarning unit bag
Top plate and connector are included, the same side below the top plate is provided with one group of lifting column, is equipped with and strengthens between the lifting column
Muscle, one is provided with the connector assembles and close the cylinder that the lifting column uses, the lifting column is movably arranged on the circle
In cylinder, roller mount is provided with below the lifting column, heavy scroll wheel is movably set with the roller mount；Positioned at the connection
Part side is additionally provided with connecting plate, and the displacement sensor for coordinating the top plate to use, and institute's rheme are provided with the connecting plate
Moving inductor is set below the top plate.
As the improvement of above-mentioned technical proposal, the infra-red radiation scope of the infrared ray search module is 3~50 μm.
As the improvement of above-mentioned technical proposal, the infra-red radiation scope of the infrared ray search module is 8~14 μm.
As the improvement of above-mentioned technical proposal, the electromagnetic wave search module scans for the distance R for measuring target
Method is：
R=v (t- △ t)/2
In formula：The time interval of t-between inquiry and reply pulse；
△ t-system delay
Spread speed of the v-electromagnetic wave in uniform dielectric.
As the improvement of above-mentioned technical proposal, the electromagnetic wave search module is to measuring the side that scans for of orientation of target
Method is：
The mode of GPS is taken based on, based on space resection's principle in surveying：Radar connects
Receipts machine measures trapped person to the approximate distance R of radar receiver three positions using range measurement principle respectively1,R2,R3And respectively
Record the coordinate x of three positionsi,yi,zi, can so obtain three Spatial Spheres, you can obtain Simultaneous Equations, three Spatial Spheres
Intersection point be exactly trapped person position coordinates.
Compared with prior art, implementation result of the invention is as follows by the present invention：
Industrialization robot of the present invention real-time high-precision detection system, is widely used in industrialized building, such as
Various catastrophe risks such as earthquake, explosion, building are collapsed, landslide etc., the projects such as emergency management and rescue are carried out after disaster occurs,
The unapproachable cave of human body or gap can be probeed into using the device, avoids manually-operated danger, is carried out by monitoring
Real Time Observation, the device after finding trapped person, can be carried out at once with the sign of life under accurately detecting ruins and accurate positionin
Sue and labour, ensure that the validity of excavation；
The device not only can control viewing angle change, but also conveniently be manipulated in rear end, which passes through electromagnetism, infrared, high definition
Video carries out more class surveys, can open human body intelligent identifying system aided detection at the same time under the bad weathers such as sleet, rear end has
CCU control centres, can be handled front information, and detection video is included on the display screen of rear end, while can regard this
Simultaneously wireless synchronization is transmitted to headquarter for frequency storage；
It was found that after trapped person, captive situation can be observed by video, and can be used the integrated equipment in front end into
Row confirms.A Microspeaker is additionally provided with beside electret voice acquisition system, passes through the microphone on the earphone of rear end
Inquire trapped person's situation, such as injured degree, whether excessive blood loss, body are by severe crush position etc., if trapped person goes into a coma
Or it is dead, then it can not then be judged according to traditional video and audio.Enable infrared and electromagnetism wave energy and body is carried out to trapped person
The detection of temperature and bulk wave, then can be determined that trapped person's As-Is, according to the situation of understanding rescue at scheme in time
Reason；
When the various catastrophe risks such as the device is in earthquake, explosion, building collapse, landslide, can also carry out from
Barrier is carried and removed to dynamicization, there is provided positions the accuracy rate of scanning system, and Bang Zu rescue teams clean and manually are difficult to move
Barrier that is dynamic and carrying, is greatly improved rescue success rate, mitigates the technical guarantee of casualties to greatest extent, and satisfaction actually makes
With requiring；
The setting of prewarning unit in the device, avoids robot and is absorbed in detection process in pit-hole, has good
Early warning and protective effect, extend the service life of device.
Brief description of the drawings
Fig. 1 is industrialization robot of the present invention real-time high-precision detection system robot model's structure diagram；
Fig. 2 is former for electromagnetic wave search module positioning in industrialization robot of the present invention real-time high-precision detection system
Manage structure diagram；
Fig. 3 is more integrated frames of drive circuit in industrialization robot of the present invention real-time high-precision detection system
Figure；
Fig. 4 is prewarning unit structure diagram in industrialization robot of the present invention real-time high-precision detection system.
Embodiment
Illustrate present disclosure below in conjunction with specific embodiments.
As shown in Figures 1 to 4, it is industrialization robot real-time high-precision detection system structure of the present invention and detection
System principle schematic diagram.
Industrialization robot of the present invention real-time high-precision detection system, including：Robot model, robot model's bag
Robot body 10, robot head 20, robot arm 30, robot foot 40 are included, robot head 20 is movably arranged on machine
The top of device human body 10, robot arm 30 are movably arranged on 10 both sides of robot body, and robot foot 40 is movably arranged on machine
10 lower part of device human body；Robot body 10 is internally provided with detection system 11, and 10 center position of robot body is provided with
Shield heart scans eye 12, and robot head 20 is provided with scanning eye 21；Detection system includes：Ordinary video search module；Infrared ray
Search module；The optical system of the infrared ray search module is by the human infrared radiation Voice segment received in infrared sensing
On device, when human body and optical system relatively move, the energy received changes, and sensor exports change
Signal, triggering alarm and instruction after this signal such as amplifies, filters, differentiating through circuit at the processing；Audio search module；And electromagnetism
Ripple search module；The antenna equipment that can carry out receiving electromagnetic wave search module is provided with the front end of the electromagnetic wave search module,
The antenna equipment is scanned for for the distance and orientation of measurement target.Industrialization robot of the present invention real-time high-precision
Detection system, is widely used in industrialized building, and such as earthquake, explosion, building are collapsed, the various catastrophe risks in landslide
Deng, the projects such as emergency management and rescue are carried out after disaster occurs, the unapproachable cave of human body or gap can be probeed into using the device,
Manually-operated danger is avoided, carries out Real Time Observation by monitoring, which can be with the life mark under accurately detecting ruins
As and be accurately positioned, find trapped person after, sue and labour at once, ensure that the validity of excavation；The device both can control and see
Angle change is examined, and is conveniently manipulated in rear end, which carries out more class surveys by electromagnetism, infrared, HD video, in sleet etc.
Human body intelligent identifying system aided detection can be opened under bad weather at the same time, there are CCU control centres in rear end, can by front information into
Row is handled, and detection video is included on the display screen of rear end, while the video can be stored to simultaneously wireless synchronization and be transmitted to commander
Portion；It was found that after trapped person, captive situation can be observed by video, and it is true the integrated equipment in front end to can be used to carry out
Recognize.A Microspeaker is additionally provided with beside electret voice acquisition system, is inquired by the microphone on the earphone of rear end
Trapped person's situation, such as injured degree, whether excessive blood loss, body are by severe crush position etc., if trapped person's stupor or
Death, then can not then judge according to traditional video and audio.Enable infrared and electromagnetism wave energy trapped person is carried out body temperature with
And the detection of bulk wave, then it can be determined that trapped person's As-Is, carried out rescuing scheme processing in time according to the situation of understanding；Should
When the various catastrophe risks such as device is in earthquake, explosion, building collapse, landslide, also can be automated carrying and
Remove barrier, there is provided position the accuracy rate of scanning system, and Bang Zu rescue teams clean what is be manually difficult to movement and carry
Barrier, is greatly improved rescue success rate, mitigates the technical guarantee of casualties to greatest extent, meets actual operation requirements.
Further with improvement, ordinary video search module is video camera and image capture module, and audio search module is sound
Sound acquisition module, shield heart scan eye and are connected with scanning eye by electric signal with the detection system.Economic investment cost is reduced,
Video camera, image capture module and sound acquisition module are conventional technical means, are used more convenient.
Further with improvement, as shown in Figure 1 and Figure 4, robot foot bottom is provided with prewarning unit 50, and prewarning unit 50 is wrapped
Top plate 53 and connector 51 are included, 53 lower section the same side of top plate is provided with one group of lifting column 54, is equipped with and adds between lifting column 54
Strengthening tendons 55, one is provided with connector 51 assembles and close the cylinder 52 that the lifting column 54 uses, lifting column 54 is movably arranged on circle
In cylinder 52, the lower section of lifting column 54 is provided with roller mount 56, and roller 57 is movably set with roller mount 56；Positioned at 51 side of connector
Connecting plate 58 is additionally provided with, the displacement sensor 59 for coordinating top plate 53 to use, and displacement sensor 59 are provided with connecting plate 58
It is to be set positioned at the lower section of top plate 53.Avoid robot to be absorbed in pit-hole in detection process, there is good early warning and protection
Effect, extends the service life of device.
Further with improvement, as shown in Figures 2 and 3, the infra-red radiation scope of infrared ray search module is 3~50 μm；It is red
The infra-red radiation scope of outside line search module is 8~14 μm.The infrared reconnaissance module operation principle is as follows：Human infrared radiation
Energy is 9.4 μm compared with the centre wavelength of concentration；The infra-red radiation scope of human skin is 3~50 μm, wherein 8~14 μm account for whole
The 46% of human body radiation energy, this wave band are an important parameters for designing human body infrared detecting set.Optical system will
The human infrared radiation Voice segment received, when human body and optical system relatively move, connects on infrared sensor
Received energy changes, the signal of sensor one change of output, this signal amplifies through circuit, filters, differentiating etc.
Triggering alarm and instruction after reason.
Further with improvement, electromagnetic wave search module is to the distance R for the measuring target methods scanned for：
R=v (t- △ t)/2
In formula：The time interval of t-between inquiry and reply pulse；
△ t-system delay
Spread speed of the v-electromagnetic wave in uniform dielectric.
Electromagnetic wave search module is to the method that scans for of orientation for measuring target：
The mode of GPS is taken based on, based on space resection's principle in surveying：Radar connects
Receipts machine measures trapped person to the approximate distance R of radar receiver three positions using range measurement principle respectively1,R2,R3And respectively
Record the coordinate x of three positionsi,yi,zi, can so obtain three Spatial Spheres, you can obtain Simultaneous Equations, three Spatial Spheres
Intersection point be exactly trapped person position coordinates, its principle is as shown in Figure 2.
Equation group obtains what solution was to determine in the ideal case, i.e. three spheres meet at target point, but due to the presence of error,
Three spheres often do not meet at target point strictly, but are centered around one song surrounded by four spheres of formation around target point
Face, can approximation regard tetrahedron as, choose in tetrahedron which point to represent target point be pinpoint matter of utmost importance.
Above content is detailed description made for the present invention in conjunction with specific embodiments, it is impossible to assert that the present invention is specific real
Apply and be only limitted to these explanations.For those skilled in the art, before present inventive concept is not departed from
Put, some simple deduction or replace can also be made, should all be considered as belonging to the scope of protection of the invention.
Claims (4)
1. industrialize robot real-time high-precision detection system, it is characterised in that：
Including：Robot model, the robot model include robot body (10), robot head (20), robot
Arm (30), robot foot (40), the robot head (20) are movably arranged at the top of robot body (10), the robot
Arm (30) is movably arranged on robot body (10) both sides, and the robot foot (40) is movably arranged on robot body (10)
Lower part；The robot body (10) is internally provided with detection system (11), and robot body (10) center position is set
Shield heart scanning eye (12) is equipped with, the robot head (20) is provided with scanning eye (21)；
The detection system (11) includes：
Ordinary video search module；
Infrared ray search module；The human infrared radiation Voice segment that the optical system of the infrared ray search module will receive
On infrared sensor, when human body and optical system relatively move, the energy received changes, sensor output
The signal of one change, this signal amplify, filter, alarm is triggered after differentiation processing and indicate through circuit；
Audio search module；
And electromagnetic wave search module；Being provided with the front end of the electromagnetic wave search module can carry out receiving electromagnetic wave search module
Antenna equipment, the antenna equipment for measurement target distance and orientation scan for；
The robot foot bottom is provided with prewarning unit (50), and the prewarning unit (50) includes top plate (53) and connector
(51), the same side below the top plate (53) is provided with one group of lifting column (54), is equipped with and adds between the lifting column (54)
Strengthening tendons (55), one is provided with the connector (51) assembles and close the cylinder (52) that the lifting column (54) uses, the lifting
Column (54) is movably arranged in the cylinder (52), and roller mount (56), the roller mount are provided with below the lifting column (54)
(56) roller (57) is movably set with；Connecting plate (58), the connecting plate are additionally provided with positioned at the connector (51) side
(58) displacement sensor (59) for coordinating the top plate (53) to use is provided with, and the displacement sensor (59) is to be located at institute
State and set below top plate (53)；
The electromagnetic wave search module is to the methods that scan for of distance R for measuring target：
R=v (t- △ t)/2
In formula：The time interval of t-between inquiry and reply pulse；
△ t-system delay
Spread speed of the v-electromagnetic wave in uniform dielectric；
The electromagnetic wave search module is to the method that scans for of orientation for measuring target：
The mode of GPS is taken based on, based on space resection's principle in surveying：Radar receiver
Trapped person is measured to the approximate distance R of radar receiver using range measurement principle three positions respectively1,R2,R3And record respectively
The coordinate x of three positionsi,yi,zi, can so obtain three Spatial Spheres, you can obtain Simultaneous Equations, the friendship of three Spatial Spheres
Point is exactly the position coordinates of trapped person.
2. robot real-time high-precision detection system is industrialized according to claim 1, it is characterised in that：The ordinary video
Search module is video camera and image capture module, and the audio search module is sound acquisition module, and the shield heart scans eye
It is connected with scanning eye by electric signal with the detection system.
3. robot real-time high-precision detection system is industrialized according to claim 1, it is characterised in that：The infrared ray is searched
The infra-red radiation scope of rope module is 3~50 μm.
4. robot real-time high-precision detection system is industrialized according to claim 1, it is characterised in that：The infrared ray is searched
The infra-red radiation scope of rope module is 8~14 μm.
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| CN201711192336.2A CN107962594B (en) | 2016-05-15 | 2016-05-15 | Real-time high-precision detection system of industrial robot |
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| CN201711192336.2A CN107962594B (en) | 2016-05-15 | 2016-05-15 | Real-time high-precision detection system of industrial robot |
| CN201610315397.2A CN105881549B (en) | 2016-05-15 | 2016-05-15 | One kind industrialization robot real-time high-precision detection system |
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| CN108961646A (en) * | 2018-08-01 | 2018-12-07 | 江苏警官学院 | A kind of fire disaster alarming device |
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| CN106553201B (en) * | 2017-01-03 | 2019-05-28 | 上海量明科技发展有限公司 | Lifesaving robot and its implementation |
| CN108502173A (en) * | 2018-03-13 | 2018-09-07 | 河海大学 | A kind of robot of real-time high-precision weather detection system |
| CN108478969A (en) * | 2018-04-02 | 2018-09-04 | 南京森林警察学院 | A kind of hybrid forest ember of shoe foot clears up robot |
| CN108543244A (en) * | 2018-04-02 | 2018-09-18 | 南京森林警察学院 | A kind of method of caterpillar type robot cleaning forest ember |
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| CN107962594B (en) | 2021-07-30 |
| CN105881549A (en) | 2016-08-24 |
| CN105881549B (en) | 2017-12-29 |
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