CN108062100A - A kind of line-marking method of autonomous graticule detection robot - Google Patents
A kind of line-marking method of autonomous graticule detection robot Download PDFInfo
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- CN108062100A CN108062100A CN201711373784.2A CN201711373784A CN108062100A CN 108062100 A CN108062100 A CN 108062100A CN 201711373784 A CN201711373784 A CN 201711373784A CN 108062100 A CN108062100 A CN 108062100A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 title claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims abstract description 9
- 238000006073 displacement reaction Methods 0.000 claims abstract description 6
- 239000003973 paint Substances 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 5
- 239000000945 filler Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000009966 trimming Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 3
- 238000006748 scratching Methods 0.000 abstract description 3
- 230000002393 scratching effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000007592 spray painting technique Methods 0.000 description 6
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 239000003550 marker Substances 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of line-marking methods of autonomous graticule detection robot, remote control robot is moved to workspace, make to need the starting point of graticule to appear in the visual field of navigation system industrial camera, the position of graticule is needed to place bracing wire or the mold with guiding mark on the ground, navigation system industrial camera gathers image, by the bracing wire in image procossing and analysis identification picture or mold mark, bogey heading angular displacement is calculated by tangent line, current nozzle relative position deviation is calculated by picture graticule point midway, the scratching process of robot is fully automated in foregoing invention, eliminate manual operation, line efficiency can be promoted.
Description
Technical field
The present invention relates to a kind of detection method, the line-marking method of specifically a kind of autonomous graticule detection robot.
Background technology
, it is necessary to which dividing various index lines carrys out specification traffic order on airport, highway, for example the landing in airport refers to
Timberline, the driveway partition line on highway etc..These previous index lines are 3 to 6 months substantially every all by manually drawing
With regard to needing to safeguard once, cost of labor is higher.
The patent application of 201611197097 .5 of Application No. discloses a kind of road traffic marking system for automatic marker making vehicle, leads to
It crosses using man-machine interaction unit, industrial personal computer, Location vehicle unit, stepper motor, executing agency and line width adjustment unit, realizes
Line-marking vehicle system for automatic marker making function, has reached labor-saving purpose.But also there are following defects for the line-marking vehicle：
1）It is inadequate using GPS location precision, it can not ensure the error less than 1cm.
2）Not using closed loop, line speed cannot keep precisely, influence coating quality for motor control.
The content of the invention
It is an object of the present invention to propose a kind of line-marking method of high-precision autonomous type graticule robot, can effectively solve
Problem certainly existing in the prior art, especially artificial crossed can not ensure precision the problem of.
The present invention is realized by following technical scheme：
A kind of line-marking method of autonomous graticule detection robot, the line-marking method include the following steps：
S1：By remote operation terminal, remote-controlled robot is moved to workspace, makes to need the starting point of graticule to appear in navigation system
In the visual field of industrial camera；
S2：The position of graticule is needed to place bracing wire or the mold with guiding mark on the ground；
S3：Navigation system industrial camera gathers image and image is transferred to industrial personal computer, by image procossing and analyzes identification picture
Bracing wire or mold mark in face, the bogey heading angular displacement of robot is calculated by tangent line, passes through picture graticule midpoint
Current nozzle relative position deviation is calculated in position；
S4：Robot advances while being adjusted so that the tangent line of markings and the perpendicular bisector of whole photo are put down in image
Row, robot course angle is consistent with target course at this time；The length of adjust automatically machine people position and telescopic mechanical arm simultaneously,
So that markings tangent line is overlapped with the perpendicular bisector of every photo, face needs the graticule sprayed to nozzle at this time；
Or robot current course angle is can obtain according to the data of inertial navigation system, adjust automatically machine people's course angle makes itself and mesh
It is consistent to mark course angle；The position of adjust automatically machine people simultaneously so that Robot course angle takes the air line, at this time robot body
Walking path parallel to graticule；The photo gathered simultaneously according to industrial camera, passes through remote operation terminal adjust automatically
The length of telescopic mechanical arm so that the tangent line of markings is overlapped with the perpendicular bisector holding of every photo in the visual field, and nozzle has been at this time
The graticule sprayed through face needs；
S5：Graticule robot starts to work, spray paint, advances while adjust pose and telescopic mechanical arm length, guarantee
Nozzle is always situated in the surface for needing graticule position.
Further, the robot further includes obstacle avoidance module, if obstacle avoidance module finds barrier, robot stops simultaneously
Attempt to bypass；MANUAL CONTROL mode is switched to by operating personnel's remote manual control cut-through if obstacle can not bypass.
Further, the navigation system further includes sensor, if robot occur material spray be finished, the feelings such as pipeline blockage
Condition, by sensor return signal, robot alarm, robot exits working region and carries out filler or trimming.
Compared with prior art, beneficial effects of the present invention are as follows：
1st, using the scheme of video marker identification positioning, GPS signal is not required, in GPS signal difference or the signal without GPS
Place could be used that
2nd, car body controls in itself controls in real time with reference to telescopic arm, can ensure higher dynamic response in scratching process, can be with
Robot is avoided to shake the influence brought to line nozzle in itself so that error is less than 1cm.
3rd, robot scratching process is fully automated, eliminates manual operation, can promote line efficiency.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the mobile chassis schematic diagram the present invention is based on Mecanum wheel.
Fig. 3 is the mobile chassis schematic diagram the present invention is based on double main wheels, the Two-wheeled mode of four auxiliary wheels.
Fig. 4 is the mobile chassis schematic diagram the present invention is based on four active wheel-drive modes.
Fig. 5 is the structure diagram of graticule paint finishing of the present invention.
Fig. 6 works together logical schematic for inertial navigation system of the present invention and industrial camera
Fig. 7 is the logic composition of the master control system of the present invention and connection block diagram.
Specific embodiment
It is further illustrated the present invention below in conjunction with the drawings and specific embodiments.
According to Fig. 1, a kind of autonomous graticule detection robot system, including mobile chassis, master control system, navigation system
System, telescopic mechanical arm, graticule paint finishing and remote operation terminal；Master control system is mounted on mobile chassis, telescopic mechanical arm
Mounted on mobile chassis rear end, navigation system is mounted on telescopic mechanical arm end；Graticule paint finishing include spray painting control module,
Hopper, compression pump and nozzle, the spray painting control module, hopper, compression pump are installed on mobile chassis rear end, and nozzle is arranged on flexible
Mechanical arm tail end, the spray painting control module are connected respectively with compression pump and master control system；The nozzle passes through pipe and the electricity of painting
Gas is connected with graticule paint finishing other parts.
There are one laterally free degree, the direction moved horizontally and the moving directions of mobile chassis for the telescopic mechanical arm tool
Vertically, it is responsible for that the navigation system of telescopic mechanical arm end and the nozzle of graticule paint finishing is driven finely and quickly adjust
It is whole.
Master control system is made of an industrial personal computer and communication interface, is mainly responsible for the data for obtaining navigation system, Ran Hougen
The action of each actuating unit is calculated according to current task, and issues control instruction.Master control system, can also comprising radio receiving transmitting module
To be communicated with remote control module.
Remote operation terminal and master control system wireless connection can read from master control system and upload data, obtain robot
Current various status informations, can also issue control instruction to robot from operating terminal.
The navigation system includes industrial camera and light source, and navigation system is mainly responsible for identification and path planning, passes through work
Industry camera shoots road surface vertically downward, and road pavement has graticule or the place of drawn mark carries out image recognition processing, obtains
Then the path walked of nozzle needs of graticule paint finishing decomposes the direction of advance of robot, pace and flexible
The extension elongation of mechanical arm is adjusted.
Preferably, the navigation system may also include inertial navigation system, comprising gyroscope, odometer and accelerometer, can lead to
The absolute position for calculating directly output robot and course angle are crossed, the control of nozzle path can be so divided into two parts, be used to
Guiding systems can be accurate to Centimeter Level as the feedback of robot entirety Pose Control；And the machine vision of industrial camera composition is led
The feedback that boat system is controlled as telescopic mechanical arm length, is accurate to grade.The two works at the same time, the essence that graticule can work
Accuracy is promoted to grade, and dynamic response capability also greatly improves.
Preferably, the robot may also include environmental monitoring module and obstacle avoidance module, the environmental monitoring module
It is electrically connected with master control system with obstacle avoidance module, is kept away automatically during advancing so as to fulfill graticule robot system respectively
Barrier, further improves graticule efficiency.
Environmental monitoring module is made of four monitoring cameras and video server, can be by machine when robot works
Device people local environmental conditions gather upload in real time；Obstacle avoidance module is made of 2 laser radars, covers 360 ° around robot of area
Domain once having detected barrier appearance, can transmit signal to main control module, robot stops at once.
According to Fig. 2, using the omni-directional moving platform based on Mecanum wheel, this kind of chassis, translational speed are used
No more than 5km/h, climbing capacity can realize 5 °, can be with all-around mobile, flexibly, steadily.
According to Fig. 3, using double main wheels, the mobile chassis of the Two-wheeled mode of four auxiliary wheels, using this kind of chassis,
Four auxiliary steamboat independent suspensions, steady, bearing capacity is strong.
According to Fig. 4, using the mobile platform of four main wheel type of drive, four-wheel can realize driving and steering respectively,
It goes slick, is suitable for the detection of Different Ground.
As shown in figure 5, graticule paint finishing includes spray painting control module, hopper, compression pump and nozzle, nozzle is arranged on flexible
Mechanical arm tail end, sprays graticule paint vertically downward, and other components are arranged on mobile chassis rear end；Spray painting control module respectively with pressure
Power pump is connected with master control system.
As shown in fig. 6, navigation system industrial camera gathers image and image is transferred to industrial personal computer, by image procossing simultaneously
Bracing wire or mold mark in analysis identification picture, the bogey heading angular displacement of robot is calculated by tangent line, passes through picture
Current nozzle relative position deviation is calculated in face graticule point midway；
Robot current course angle is can obtain according to the data of inertial navigation system, adjustment robot course angle makes itself and bogey heading
Angle is consistent；The position of robot is adjusted simultaneously so that Robot course angle takes the air line, at this time the walking path of robot body
Parallel to graticule；The photo gathered simultaneously according to industrial camera, by adjusting the length of telescopic mechanical arm so that in the visual field
The tangent line of markings is overlapped with the perpendicular bisector holding of every photo, at this time the nozzle graticule that face needs spray；
As shown in fig. 7, master control system core is an industrial personal computer, radio receiving transmitting module, industrial personal computer and wireless receiving and dispatching mould are further included
It is electrically connected between block by Ethernet or serial ports.Radio receiving transmitting module is wirelessly communicated with remote operation terminal.It is main
Control system is electrically connected by serial line interface with mobile chassis, is electrically connected by serial line interface with spray painting control module, is passed through io moulds
Block and relay are electrically connected with telescopic mechanical arm system, are electrically connected by Ethernet with the industrial camera in navigation system.In addition,
If navigation system further includes inertial navigation system, industrial personal computer is also electric with the gyroscope, odometer and accelerometer of inertial navigation system respectively
Connection.
The method that above system carries out graticule using aforementioned system, comprises the following steps：
1st, remote control robot is moved to workspace, makes the visual field that the starting point of graticule is needed to appear in navigation system industrial camera
It is interior.
2nd, the position of graticule is needed to place bracing wire or the mold with guiding mark on the ground, it is straight that bracing wire is mainly suitable for mark
Line, mold are suitble to mark song line, if to mark dotted line, spraying start and stop mark is additionally placed in bracing wire.
3rd, navigation system industrial camera acquisition image, by the bracing wire in image procossing and analysis identification picture or mold mark
Know, bogey heading angular displacement is calculated by tangent line, current nozzle is calculated with respect to position by picture graticule point midway
Put deviation.
4th, robot advances while being adjusted so that the perpendicular bisector of the tangent line of markings and whole photo in image
Parallel, robot course angle is consistent with target course at this time；The length of robot location and telescopic mechanical arm is adjusted simultaneously, is made
It obtains markings tangent line to overlap with the perpendicular bisector of every photo, at this time the nozzle graticule that face needs spray.
5th, graticule robot starts to work, spray paint, advances while adjust pose and telescopic mechanical arm length, guarantor
Nozzle is demonstrate,proved always situated in the surface for needing graticule position.
The robot line-marking method of inertial navigation system is added, is included the following steps：
1st, remote control robot is moved to workspace, makes the visual field that the starting point of graticule is needed to appear in navigation system industrial camera
It is interior.
2nd, the position of graticule is needed to place bracing wire or the mold with guiding mark on the ground, it is straight that bracing wire is mainly suitable for mark
Line, mold are suitble to mark song line, if to mark dotted line, spraying start and stop mark is additionally placed in bracing wire.
3rd, navigation system industrial camera acquisition image, by the bracing wire in image procossing and analysis identification picture or mold mark
Know, bogey heading angular displacement is calculated by tangent line, current nozzle is calculated with respect to position by picture graticule point midway
Put deviation.
4th, robot current course angle is can obtain according to the data of inertial navigation system, adjustment robot course angle makes itself and mesh
It is consistent to mark course angle；The position of robot is adjusted simultaneously so that Robot course angle takes the air line, at this time the row of robot body
Path is walked parallel to graticule.
5th, the photo gathered according to industrial camera adjusts the length of telescopic mechanical arm so that the tangent line of markings in the visual field
Perpendicular bisector holding with every photo overlaps, at this time the nozzle graticule that face needs spray.
6th, graticule robot starts to work, spray paint, advances while adjust pose and telescopic mechanical arm length, guarantor
Nozzle is demonstrate,proved always situated in the surface for needing graticule position.
Above two method further includes：
If the obstacle avoidance module of graticule robot system finds barrier, graticule robot system stops and attempts to bypass, and such as hinders
Hinder not bypassing and then switch to remote control pattern by operating personnel's remote manual control cut-through.
If graticule robot system occur material spray be finished, pipeline blockage situations such as, system alarm, graticule robot system
It exits working region and carries out filler or trimming.
In addition, motor control, not using closed loop, line speed cannot keep precisely, influence coating quality, stepper motor is
Opened loop control, controller only give the pulse signal of motor fixed frequency, and motor actual speed controller can not be learnt, can not be avoided
Motor step-out due to load changing；And the control of speed closed loop motor installs encoder as position and velocity feedback on motor,
Controller can obtain motor speed in real time when motor is controlled to rotate, once the fluctuation of speed occurs because of load variation, control
Device can make a response rapidly, adjust output and motor speed is kept to stablize.
The description of the understanding of specific embodiment is only to help to understand the present invention rather than for limiting the present invention
's.Those skilled in the art can carry out some modifications and changes using the thought of the present invention, as long as its technological means does not have
Depart from the thought and main points of the present invention, still within protection scope of the present invention.
Claims (3)
1. a kind of line-marking method of autonomous graticule detection robot, it is characterised in that the line-marking method includes the following steps：
S1：By remote operation terminal, remote-controlled robot is moved to workspace, makes to need the starting point of graticule to appear in navigation system
In the visual field of industrial camera；
S2：The position of graticule is needed to place bracing wire or the mold with guiding mark on the ground；
S3：Navigation system industrial camera gathers image and image is transferred to industrial personal computer, by image procossing and analyzes identification picture
Bracing wire or mold mark in face, the bogey heading angular displacement of robot is calculated by tangent line, passes through picture graticule midpoint
Current nozzle relative position deviation is calculated in position；
S4：Robot advances while being adjusted so that the tangent line of markings and the perpendicular bisector of whole photo are put down in image
Row, robot course angle is consistent with target course at this time；The length of adjust automatically machine people position and telescopic mechanical arm simultaneously,
So that markings tangent line is overlapped with the perpendicular bisector of every photo, face needs the graticule sprayed to nozzle at this time；
Or robot current course angle is can obtain according to the data of inertial navigation system, adjust automatically machine people's course angle makes itself and mesh
It is consistent to mark course angle；The position of adjust automatically machine people simultaneously so that Robot course angle takes the air line, at this time robot body
Walking path parallel to graticule；The photo gathered simultaneously according to industrial camera, passes through remote operation terminal adjust automatically
The length of telescopic mechanical arm so that the tangent line of markings is overlapped with the perpendicular bisector holding of every photo in the visual field, and nozzle has been at this time
The graticule sprayed through face needs；
S5：Graticule robot starts to work, spray paint, advances while adjust pose and telescopic mechanical arm length, guarantee
Nozzle is always situated in the surface for needing graticule position.
2. a kind of line-marking method of autonomous graticule detection robot according to claim 1, it is characterised in that：The machine
People further includes obstacle avoidance module, if obstacle avoidance module finds barrier, robot stops and attempts to bypass；If obstacle can not bypass
MANUAL CONTROL mode is then switched to by operating personnel's remote manual control cut-through.
3. a kind of line-marking method of autonomous graticule detection robot according to claim 1, it is characterised in that：The navigation
System further includes sensor, if robot occur material spray be finished, pipeline blockage situations such as, by sensor return signal, machine
People alarms, and robot exits working region and carries out filler or trimming.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711373784.2A CN108062100A (en) | 2017-12-19 | 2017-12-19 | A kind of line-marking method of autonomous graticule detection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711373784.2A CN108062100A (en) | 2017-12-19 | 2017-12-19 | A kind of line-marking method of autonomous graticule detection robot |
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| CN108062100A true CN108062100A (en) | 2018-05-22 |
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| CN201711373784.2A Pending CN108062100A (en) | 2017-12-19 | 2017-12-19 | A kind of line-marking method of autonomous graticule detection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109508018A (en) * | 2018-12-28 | 2019-03-22 | 山东天星北斗信息科技有限公司 | A kind of road zebra crossing scribing line robot and method |
| CN113235384A (en) * | 2021-06-02 | 2021-08-10 | 山西省交通新技术发展有限公司 | Road bridge is with road surface marking device with quick drying structure |
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| CN113235384A (en) * | 2021-06-02 | 2021-08-10 | 山西省交通新技术发展有限公司 | Road bridge is with road surface marking device with quick drying structure |
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Application publication date: 20180522 |