CN107962594B - Real-time high-precision detection system of industrial robot - Google Patents
Real-time high-precision detection system of industrial robot Download PDFInfo
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- CN107962594B CN107962594B CN201711192336.2A CN201711192336A CN107962594B CN 107962594 B CN107962594 B CN 107962594B CN 201711192336 A CN201711192336 A CN 201711192336A CN 107962594 B CN107962594 B CN 107962594B
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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
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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
-
- 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
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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
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
Abstract
The invention discloses a real-time high-precision detection system of an industrial robot, which comprises: the robot model comprises a robot body, a robot head, robot arms and robot feet; the robot body is provided with a detection system and a heart protection scanning eye, and the head of the robot is provided with the scanning eye; the detection system comprises: a common video search module; an infrared search module; an audio search module; and an electromagnetic wave search module. On the premise of meeting the requirement of convenient use, the invention can implement a rescue real-time and high-precision detection and positioning system through industrial robot equipment under dangerous conditions, ensure that trapped persons can be rescued quickly, accurately and effectively, greatly improve the success rate of rescue, reduce the technical guarantee of casualties to the maximum extent and meet the actual use requirement.
Description
Technical Field
The invention relates to a real-time high-precision detection system of an industrial robot, and belongs to the technical field of visual servo detection and induction of industrial robots.
Background
With the expansion of the application range of industrial robots and the requirements of various complex occasions, the visual servo of industrial robots is more and more important. In present industrial robot in-service use, because positioning accuracy, real-time, need mark the scheduling problem, only few occasions have utilized robot vision servo positioning, and along with the development of industrial robot trade, it will be must the trend that industrial robot possess vision servo ability. The real-time performance and the positioning precision are the two most important indexes for verifying the effectiveness and the practicability of a robot visual positioning system, and are key factors for judging whether the robot visual positioning system can be put into actual industrial production. Vision-based robot control is divided into two categories: location-based visual servoing and image-based visual servoing: the robot needs to be calibrated in the positioning process of the visual servo robot based on the position, and any error in the calibration can cause a certain error in the positioning of the robot in a three-dimensional space (P.I. Corke and S.Hutchinson 2001); in the vision servo based on the image, a tiny error in a vision system can have a great influence on the positioning of the robot, so that the calibration of the camera and the robot is needed, and the calibration of the camera and the robot is a very complicated problem. Synchronization real-time performance between image processing and robot motion control is a difficult problem to face, and therefore, due to the delay of image processing, high-precision and high-real-time image-based visual servo positioning is a task which is difficult to complete (Itsushi Kinbara proposes a new visual servo robot control system which adopts a method for estimating image characteristics, but the method does not always get rid of the disadvantage of camera calibration).
Along with the acceleration of the modernization and urbanization construction of China, the scale, height and span of urban buildings are gradually increased, and the population density is also gradually increased. If in the construction process (or earthquake disaster is sent), the casualties and the damage degree of the building are more serious compared with other countries, the difficulty of rescue work is extremely increased, and higher requirements on the personnel reduction technology and equipment are provided. In order to carry out efficient and orderly rescue on trapped people, besides ensuring rapid response, high maneuverability and strong assault performance of an emergency rescue team, the same important thing is to equip necessary real-time high-precision detection equipment, so that the advanced rescue technology and equipment working under dangerous conditions are technical support for improving the success rate of rescue and reducing casualties to the maximum extent. Therefore, the emergency rescue system of the industrial robot meets the requirements of the national conditions of China only by using advanced real-time high-precision detection equipment to ensure that trapped people are rescued quickly, accurately and effectively in the rescue process under dangerous conditions. Therefore, a new technical solution is needed to solve the above mentioned problems in the background art.
Disclosure of Invention
The invention provides a real-time high-precision detection system of an industrial robot aiming at the defects of the prior art, which can implement a real-time and high-precision detection and positioning system through industrial robot equipment under the dangerous condition on the premise of meeting the requirement of convenient use, ensure the rapid, accurate and effective rescue of trapped people, greatly improve the success rate of rescue, furthest reduce the technical guarantee of casualties, and meet the actual use requirement.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
real-time high accuracy detecting system of industrialization robot includes: the robot model comprises a robot body, a robot head, robot arms and robot feet, wherein the robot head is movably arranged at the top of the robot body, the robot arms are movably arranged at two sides of the robot body, and the robot feet are movably arranged at the lower part of the robot body; a detection system is arranged in the robot body, a heart protection scanning eye is arranged at the center of the robot body, and a scanning eye is arranged at the head of the robot;
the detection system comprises:
a common video search module;
an infrared search module; the infrared ray searching module comprises an infrared ray searching module, an infrared sensor, a circuit and a power supply module, wherein the infrared ray searching module comprises an optical system, an infrared ray searching module and a power supply module, wherein the optical system focuses received human body infrared radiation energy on the infrared sensor, when a human body and the optical system move relatively, the received energy changes, the sensor outputs a changed signal, and the signal triggers alarm and indication after being amplified, filtered and judged by the circuit;
an audio search module;
and an electromagnetic wave search module; the front end of the electromagnetic wave searching module is provided with an antenna device capable of receiving the electromagnetic wave searching module, and the antenna device searches for the distance and the direction of a measuring target.
As an improvement of the technical scheme, the common video searching module is a camera and an image acquisition module, the audio searching module is a sound acquisition module, and the heart protection scanning eye and the scanning eye are both connected with the detection system through electric signals.
As an improvement of the above technical scheme, an early warning unit is arranged at the bottom end of the robot foot, the early warning unit comprises a top plate and a connecting piece, a group of lifting columns are arranged on the same side below the top plate, reinforcing ribs are arranged between the lifting columns, a group of cylinders matched with the lifting columns are arranged on the connecting piece, the lifting columns are movably arranged in the cylinders, a roller seat is arranged below the lifting columns, and heavy rolling wheels are movably arranged on the roller seat; and a connecting plate is further arranged on one side of the connecting piece, a displacement inductor matched with the top plate is arranged on the connecting plate, and the displacement inductor is arranged below the top plate.
As an improvement of the technical scheme, the infrared radiation range of the infrared search module is 3-50 μm.
As an improvement of the technical scheme, the infrared radiation range of the infrared search module is 8-14 mu m.
As an improvement of the above technical solution, the method for searching for the distance R of the measurement target by the electromagnetic wave search module includes:
R＝v(t-△t)/2
in the formula: t-the time interval between the interrogation and reply pulses;
delta t-system delay
v is the propagation velocity of the electromagnetic wave in the homogeneous medium.
As an improvement of the above technical solution, the method for searching the azimuth of the measurement target by the electromagnetic wave search module includes:
the method is based on a global satellite positioning system and is based on the space rear intersection principle in the metrology: the radar receiver respectively measures the approximate distances R from the trapped people to the radar receiver at three positions by using the ranging principle1,R2,R3And respectively recording the coordinates x of the three positionsi,yi,ziTherefore, three space balls can be obtained, namely a simultaneous equation set can be obtained, and the intersection point of the three space balls is the position coordinate of the trapped person.
Compared with the prior art, the invention has the following implementation effects:
the real-time high-precision detection system of the industrial robot is widely applied to industrial buildings, such as various disasters including earthquakes, explosions, building collapse, landslide and the like, emergency rescue and other projects are carried out after disasters occur, the device can be used for exploring caves or gaps where human bodies cannot enter, the danger of manual operation is avoided, real-time observation is carried out through monitoring, the device can accurately detect life signs under ruins and accurately position the lives, and rescue is carried out immediately after trapped people are found, so that the effectiveness of excavation is guaranteed;
the device can control the change of the observation angle and is convenient to control at the rear end, the device can carry out multi-stage detection through electromagnetic, infrared and high-definition videos, can simultaneously start a human body intelligent recognition system for auxiliary detection in severe weather such as rain, snow and the like, has a CCU control center at the rear end, can process front information, displays the detection video on a rear-end display screen, and simultaneously can store and wirelessly and synchronously transmit the video to a command part;
after the trapped person is found, the trapped person condition can be observed through the video, and confirmation can be carried out through the front-end integrated equipment. The electret sound collection system is characterized in that a miniature loudspeaker is further arranged beside the electret sound collection system, the condition of a trapped person is inquired through a microphone on a rear-end earphone, such as the injury degree, excessive blood loss and the position of the body which is seriously extruded, and if the trapped person is in a coma or dies, the situation cannot be judged according to the traditional video and audio. The infrared and electromagnetic wave functions are started to detect the body temperature and body waves of the trapped person, so that the current condition of the trapped person can be judged, and the rescue scheme treatment can be performed in time according to the known condition;
the device can also carry out automatic transportation and remove the barrier under the conditions of various disasters such as earthquake, explosion, building collapse, landslide and the like, provides the accuracy of a positioning and scanning system, helps a group rescue team to clean the barrier which is difficult to move and transport manually, greatly improves the success rate of rescue, reduces the technical guarantee of casualties to the maximum extent, and meets the actual use requirement;
the early warning unit in the device is arranged, so that the robot is prevented from being trapped in a pot hole in the detection process, good early warning and protection effects are achieved, and the service life of the device is prolonged.
Drawings
FIG. 1 is a schematic diagram of a robot model structure of an industrial robot real-time high-precision detection system according to the present invention;
FIG. 2 is a schematic structural diagram of the positioning principle of the electromagnetic wave search module in the real-time high-precision detection system of the industrial robot according to the present invention;
FIG. 3 is a diagram of an integrated framework of multiple driving circuits in the real-time high-precision detection system of the industrial robot according to the present invention;
fig. 4 is a schematic structural diagram of an early warning unit in the real-time high-precision detection system of the industrial robot according to the present invention.
Detailed Description
The present invention will be described with reference to specific examples.
Fig. 1 to 4 are schematic diagrams illustrating a structure and a principle of an industrial robot real-time high-precision detection system according to the present invention.
The invention relates to a real-time high-precision detection system of an industrial robot, which comprises: the robot model comprises a robot body 10, a robot head 20, robot arms 30 and robot feet 40, wherein the robot head 20 is movably arranged at the top of the robot body 10, the robot arms 30 are movably arranged at two sides of the robot body 10, and the robot feet 40 are movably arranged at the lower part of the robot body 10; a detection system 11 is arranged in the robot body 10, a heart protection scanning eye 12 is arranged at the center of the robot body 10, and a scanning eye 21 is arranged at the robot head 20; the detection system comprises: a common video search module; an infrared search module; the infrared ray searching module focuses the received infrared radiation energy of the human body on the infrared sensor, when the human body and the optical system move relatively, the received energy changes, the sensor outputs a changed signal, and the signal triggers alarm and indication after being amplified, filtered, distinguished and the like by a circuit; an audio search module; and an electromagnetic wave search module; the front end of the electromagnetic wave searching module is provided with an antenna device capable of receiving the electromagnetic wave searching module, and the antenna device searches for the distance and the direction of a measuring target. The real-time high-precision detection system of the industrial robot is widely applied to industrial buildings, such as various disasters including earthquakes, explosions, building collapse, landslide and the like, emergency rescue and other projects are carried out after disasters occur, the device can be used for exploring caves or gaps where human bodies cannot enter, the danger of manual operation is avoided, real-time observation is carried out through monitoring, the device can accurately detect life signs under ruins and accurately position the lives, and rescue is carried out immediately after trapped people are found, so that the effectiveness of excavation is guaranteed; the device can control the change of the observation angle and is convenient to control at the rear end, the device can carry out multi-stage detection through electromagnetic, infrared and high-definition videos, can simultaneously start a human body intelligent recognition system for auxiliary detection in severe weather such as rain, snow and the like, has a CCU control center at the rear end, can process front information, displays the detection video on a rear-end display screen, and simultaneously can store and wirelessly and synchronously transmit the video to a command part; after the trapped person is found, the trapped person condition can be observed through the video, and confirmation can be carried out through the front-end integrated equipment. The electret sound collection system is characterized in that a miniature loudspeaker is further arranged beside the electret sound collection system, the condition of a trapped person is inquired through a microphone on a rear-end earphone, such as the injury degree, excessive blood loss and the position of the body which is seriously extruded, and if the trapped person is in a coma or dies, the situation cannot be judged according to the traditional video and audio. The infrared and electromagnetic wave functions are started to detect the body temperature and body waves of the trapped person, so that the current condition of the trapped person can be judged, and the rescue scheme treatment can be performed in time according to the known condition; the device can also carry out automatic transportation and remove obstacles under the conditions of various disasters such as earthquakes, explosions, building collapse, landslide and the like, provides the accuracy of a positioning and scanning system, helps a group rescue team to clean the obstacles which are difficult to move and transport manually, greatly improves the success rate of rescue, reduces the technical guarantee of casualties to the maximum extent, and meets the actual use requirements.
In a further improvement, the common video searching module is a camera and an image acquisition module, the audio searching module is a sound acquisition module, and the heart protection scanning eye and the scanning eye are both connected with the detection system through electric signals. The economic investment cost is reduced, and the camera, the image acquisition module and the sound acquisition module are all conventional technical means, so that the use is more convenient.
In a further improvement, as shown in fig. 1 and 4, a pre-warning unit 50 is arranged at the bottom end of the robot foot, the pre-warning unit 50 includes a top plate 53 and a connecting piece 51, a set of lifting columns 54 is arranged at the same side below the top plate 53, a reinforcing rib 55 is arranged between the lifting columns 54, a set of cylinders 52 used in cooperation with the lifting columns 54 is arranged on the connecting piece 51, the lifting columns 54 are movably arranged in the cylinders 52, a roller seat 56 is arranged below the lifting columns 54, and rollers 57 are movably arranged on the roller seat 56; a connecting plate 58 is further arranged on one side of the connecting piece 51, a displacement sensor 59 matched with the top plate 53 is arranged on the connecting plate 58, and the displacement sensor 59 is arranged below the top plate 53. The robot is prevented from being trapped in the pot hole in the detection process, good early warning and protection effects are achieved, and the service life of the device is prolonged.
In a further improvement, as shown in fig. 2 and 3, the infrared radiation range of the infrared search module is 3-50 μm; the infrared radiation range of the infrared search module is 8-14 mu m. The working principle of the infrared search module is as follows: the central wavelength of the more concentrated infrared radiation energy of the human body is 9.4 mu m; the infrared radiation range of human skin is 3-50 microns, wherein 8-14 microns account for 46% of all human radiation energy, and the band is an important technical parameter for designing a human infrared detector. The optical system focuses the received infrared radiation energy of the human body on the infrared sensor, when the human body and the optical system move relatively, the received energy changes, the sensor outputs a changed signal, and the signal triggers alarm and indication after being amplified, filtered, distinguished and the like by a circuit.
In a further improvement, the method for searching the distance R of the measurement target by the electromagnetic wave search module is as follows:
R＝v(t-△t)/2
in the formula: t-the time interval between the interrogation and reply pulses;
delta t-system delay
v is the propagation velocity of the electromagnetic wave in the homogeneous medium.
The method for searching the azimuth of the measurement target by the electromagnetic wave searching module comprises the following steps:
in a manner based on the global positioning system (gps),based on the principle of space backward intersection in metrology: the radar receiver respectively measures the approximate distances R from the trapped people to the radar receiver at three positions by using the ranging principle1,R2,R3And respectively recording the coordinates x of the three positionsi,yi,ziTherefore, three space spheres, namely a simultaneous equation set, can be obtained, and the intersection point of the three space spheres is the position coordinate of the trapped person, and the principle of the three space spheres is shown in fig. 2.
In an ideal situation, the solution of the equation set is determined, that is, three spherical surfaces intersect with the target point, but due to the existence of errors, the three spherical surfaces do not intersect with the target point strictly, but form a curved surface surrounded by four spherical surfaces around the target point, which can be approximately regarded as a tetrahedron, and selecting which point in the tetrahedron to represent the target point is the primary problem of accurate positioning.
The foregoing is a detailed description of the invention with reference to specific embodiments, and the practice of the invention is not to be construed as limited thereto. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (3)
1. Real-time high accuracy detecting system of industrialization robot, its characterized in that:
the method comprises the following steps: the robot model comprises a robot body (10), a robot head (20), robot arms (30) and robot feet (40), wherein the robot head (20) is movably arranged at the top of the robot body (10), the robot arms (30) are movably arranged at two sides of the robot body (10), and the robot feet (40) are movably arranged at the lower part of the robot body (10); a detection system (11) is arranged in the robot body (10), a heart protection scanning eye (12) is arranged at the center of the robot body (10), and a scanning eye (21) is arranged at the robot head (20);
the detection system (11) comprises:
a common video search module;
an infrared search module; the infrared ray searching module comprises an infrared ray searching module, an infrared sensor, a circuit and a power supply module, wherein the infrared ray searching module comprises an optical system, an infrared ray searching module and a power supply module, wherein the optical system focuses received human body infrared radiation energy on the infrared sensor, when a human body and the optical system move relatively, the received energy changes, the sensor outputs a changed signal, and the signal triggers alarm and indication after being amplified, filtered and judged by the circuit;
an audio search module;
and an electromagnetic wave search module; the front end of the electromagnetic wave searching module is provided with antenna equipment capable of receiving the electromagnetic wave searching module, and the antenna equipment searches for the distance and the direction of a measuring target;
the robot is characterized in that an early warning unit (50) is arranged at the bottom of the robot foot, the early warning unit (50) comprises a top plate (53) and a connecting piece (51), a group of lifting columns (54) are arranged on the same side below the top plate (53), reinforcing ribs (55) are arranged between the lifting columns (54), a group of cylinders (52) matched with the lifting columns (54) for use are arranged on the connecting piece (51), the lifting columns (54) are movably arranged in the cylinders (52), roller seats (56) are arranged below the lifting columns (54), and rollers (57) are movably arranged on the roller seats (56); a connecting plate (58) is further arranged on one side of the connecting piece (51), a displacement inductor (59) matched with the top plate (53) is arranged on the connecting plate (58), and the displacement inductor (59) is arranged below the top plate (53);
the method for searching the distance R of the measurement target by the electromagnetic wave searching module comprises the following steps:
R＝v(t-△t)/2
in the formula: t-the time interval between the interrogation and reply pulses;
delta t-system delay
v is the propagation velocity of the electromagnetic wave in the homogeneous medium;
the method for searching the azimuth of the measurement target by the electromagnetic wave searching module comprises the following steps:
the method is based on a global satellite positioning system and is based on the space rear intersection principle in the metrology: the radar receiver respectively measures the approximate distances from the trapped people to the radar receiver at three positions by using the ranging principleR1,R2,R3And respectively recording the coordinates x of the three positionsi,yi,ziThus, three space balls can be obtained, namely a simultaneous equation set can be obtained, and the intersection point of the three space balls is the position coordinate of the trapped person;
the common video search module is a camera and an image acquisition module, the audio search module is a sound acquisition module, and the heart protection scanning eye and the scanning eye are connected with the detection system through electric signals.
2. The real-time high-precision detection system of the industrial robot as claimed in claim 1, wherein: the infrared radiation range of the infrared search module is 3-50 mu m.
3. The real-time high-precision detection system of the industrial robot as claimed in claim 1, wherein: the infrared radiation range of the infrared search module is 8-14 mu m.
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| CN201610315397.2A CN105881549B (en) | 2016-05-15 | 2016-05-15 | One kind industrialization robot real-time high-precision detection system |
| CN201711192336.2A CN107962594B (en) | 2016-05-15 | 2016-05-15 | Real-time high-precision detection system of industrial robot |
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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 |
| 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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| JPS61261170A (en) * | 1985-05-15 | 1986-11-19 | Nikko Sangyo Kk | Detecting mechanism of multi-foot walking machine |
| JPH06114758A (en) * | 1992-10-02 | 1994-04-26 | Mitsubishi Heavy Ind Ltd | Three-dimensionally moving robot for beam structure |
| CN1305646C (en) * | 2002-02-15 | 2007-03-21 | 索尼公司 | Leg device for leg type movable robot, and method of controlling leg type movable robot |
| JP3918049B2 (en) * | 2002-03-11 | 2007-05-23 | 独立行政法人産業技術総合研究所 | Biped robot |
| JP2008544418A (en) * | 2005-06-28 | 2008-12-04 | ドンスー コントロール カンパニー リミテッド | Pedal equipped with displacement detection sensor using magnetic pole analogue |
| US7798264B2 (en) * | 2006-11-02 | 2010-09-21 | Hutcheson Timothy L | Reconfigurable balancing robot and method for dynamically transitioning between statically stable mode and dynamically balanced mode |
| CN101786272A (en) * | 2010-01-05 | 2010-07-28 | 深圳先进技术研究院 | Multisensory robot used for family intelligent monitoring service |
| CN201604966U (en) * | 2010-01-14 | 2010-10-13 | 刘港 | Goods automatic racking and lifting system |
| CN201905896U (en) * | 2010-10-13 | 2011-07-27 | 中国科学院沈阳自动化研究所 | Movable robotized life detection equipment |
| CN102211624B (en) * | 2011-04-27 | 2012-11-28 | 中国地质大学（武汉） | Searching and rescuing positioning system robot |
| CN103419203A (en) * | 2012-05-21 | 2013-12-04 | 李坚 | All-day domestic robot |
| CN105005096A (en) * | 2015-07-08 | 2015-10-28 | 上海大学 | Multifunctional search and rescue detecting head used for disaster ruin crack search and rescue |
| CN105573198B (en) * | 2015-12-15 | 2018-04-13 | 浙江理工大学 | A kind of mine search and rescue system and rescue method based on UCOSII |
| CN105538285B (en) * | 2016-02-29 | 2017-11-21 | 中国科学院沈阳自动化研究所 | A kind of life detection robotic equipment based on multi-sensor information |
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