CN108466264A - A kind of robot optimal path forming method for the acquisition of track plates point cloud data - Google Patents
A kind of robot optimal path forming method for the acquisition of track plates point cloud data Download PDFInfo
- Publication number
- CN108466264A CN108466264A CN201810104269.2A CN201810104269A CN108466264A CN 108466264 A CN108466264 A CN 108466264A CN 201810104269 A CN201810104269 A CN 201810104269A CN 108466264 A CN108466264 A CN 108466264A
- Authority
- CN
- China
- Prior art keywords
- robot
- track
- track plates
- point cloud
- cloud data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention discloses a kind of robot optimal path forming methods for the acquisition of track plates point cloud data, include the following steps：Step 1) uses the scan mode of taking pictures of three-dimensional imaging instrument, the intermediate position of a large amount of point cloud datas of track plate surface and the point cloud of characteristic area, the characteristic area selection track plates centre fill orifice and four peripheral portion region, track plates sides is obtained by way of repeatedly measuring；Step 2) carries out programming development in Windows systems, and automatic movement is completed according to regulation track and flow to control Ku Ka robots；According to track plates appearance and size deviation requirement, robot motion path is planned, after many tests, calculates and optimizes, thus obtain the optimal motion path of robot.Rapidly and efficiently, equipment operational safety is steady for this method, meets production procedure, installation procedure is simple, and inspection result is accurate and reliable.
Description
Technical field
The present invention relates to high-speed railway track plate detection fields, and III type track plates point clouds of CRTS are used for more particularly to one kind
The robot optimal path design method of data acquisition.
Background technology
III type fragment-free track slabs of CRTS I be state's independent research, one with entirely autonomous intellectual property it is great science and technology at
Fruit, is compared to CRTSI types and CRTSII type track plates, and the detection of CRTSIII type track plates eliminates the mistake of field polish
Journey simplifies production process, reduces cost, while also more stringent requirements are proposed to the precision and quality of production board.
Currently, the detection of III type fragment-free track slab appearance and sizes of high-speed railway CRTS mainly has following two modes：First
Kind is the mode based on motor-driven total powerstation+special tooling.Such detection method in engineering using more, but due to it
Tooling is cumbersome, detection efficiency is low, can not achieve the detection of each piece of track plates, it is difficult to meet actual production demand.Second
It is to be based on close-range photogrammetry+Mechanical Driven mode, such method is greatly improved on detection efficiency, however still deposits
In following deficiency：It drives the mechanical device of camera motion complex, can not achieve flexible data acquiring mode；Using taking the photograph
Shadow measurement method realizes track plates detection, and laying photographic measurement point is limited, the laser beam limited amount of track inner surface,
Acquired measurement point position is limited, cannot rebuild the refined model of track plates characteristic portion；The behaviour of scanning device and mechanical device
Make that system is mutual indepedent, the information exchange and Collaborative Control for both failing to realize；The detection of the non-single track of designed path plate
Function can not be directed to single track overrun condition and carry out timely, efficient repetition measurement work.
Invention content
Technical problem to be solved by the invention is to provide a kind of robot for the acquisition of track plates point cloud data is optimal
Path forming method, it is of the existing technology to overcome the problems, such as.
It is as follows that the present invention solves the technical solution that above-mentioned technical problem is taken：
A kind of robot optimal path forming method for the acquisition of track plates point cloud data includes the following steps：
Step 1) uses the scan mode of taking pictures of three-dimensional imaging instrument, and track plate surface is obtained by way of repeatedly measuring
The point cloud of a large amount of point cloud datas and characteristic area, the characteristic area selection track plates centre fill orifice and peripheral portion region,
The intermediate position of four sides of track plates；
Step 2) carries out programming development in Windows systems, is carried by handheld manipulator library card (KUKA smartPAD)
Third party's language conversion interface routine of confession converts windows platform development language to library card robot programming language (KRL-
KUKA Robot Language), to control Ku Ka robots automatic movement is completed according to regulation track and flow；
According to track plates appearance and size deviation requirement, robot motion path is planned, after many tests, calculate with
Optimization, thus obtains the optimal motion path of robot.
Preferably, it is based on《III plate-type fragment-free track slab pretensioning prestressed concrete track plates of high-speed railway CRTS》
In " track plates appearance and size deviation requirement " standard determine track plates appearance and size deviation requirement.
Preferably, in step 1), based on method such as (FARO) three-dimensional imaging instrument, a large amount of point cloud numbers of track plate surface are obtained
According to the point cloud with characteristic area；
Mechanical driving equipment is driven based on Ku Ka robots, and the method such as (FARO) three-dimensional imaging instrument is sent to track plates
Corresponding designated position.
Preferably, in step 2), further include：
Robot is controlled by hand-held programmer (PHG) to move along the working trajectory of straight line, circular arc or spline curve
Designated position at workpiece；
Meanwhile programmable device is stored the coordinates of motion and attitude data, completing robot will be to the scanning element of track plates
Carry out positioning study.
Preferably, in step 2), further include：
Interactive based on figure auxiliary programs, and is moulded including robot motion in the operation interface in Windows systems
The robot cell of system and its environment lists the expression formula of operation task, or visualizes motion process by analog module,
To carry out the motion process simulation of robot.
Preferably, in step 1),
Such as point cloud data is handled after certain detection operation, scanner is not optimum bit when there is some track
The case where setting then send specific instruction to library card machine device human hair, and the track to lacking parameter, which mend, surveys scanning.
Preferably, in step 1), the scan position posture that robot carries three-dimensional imaging instrument is perpendicular to track plates table
Face.
Preferably, the interactive programming based on figure auxiliary, specifically includes：
Sub-step 1) one manufacturing cell of design component, including III type rail of three-dimensional imaging instrument, Ku Ka robots and CRTS
The threedimensional model of guidance tape；
Sub-step 2) description working cell geometric properties, generate operating point, be adjusted and designed according to analog case
Robot base；And sub-step 3) it is that operation task is programmed and simulates.
The robot optimal motion path that the present invention realizes is fast, efficient, safe, accurately obtains track plate surface
Point cloud data is laid a good foundation.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages can be by the explanations write
Specifically noted structure is realized and is obtained in book, claims and attached drawing.
Description of the drawings
The present invention is described in detail below in conjunction with the accompanying drawings, so that the above-mentioned advantage of the present invention is definitely.Its
In,
Fig. 1 is the number schematic diagram of track and each side of track plates in the present invention；
Fig. 2 is the schematic diagram of robot motion's path number in the present invention.
Specific implementation mode
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to be applied to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technique effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other,
It is formed by technical solution within protection scope of the present invention.
In addition, step shown in the flowchart of the accompanying drawings can be in the department of computer science of such as a group of computer-executable instructions
It is executed in system, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence execute shown or described step.
Specifically, in order to overcome the prior art the shortcomings that, the present invention provides one kind being used for 1 type track plates points of CRTS
The robot optimal motion path implementation method of cloud data acquisition.It, can be direct using the scan mode of taking pictures of three-dimensional imaging instrument
Obtain track plate surface mass cloud data.Mechanical device uses KUKA robots, joints cement pier to be used for stationary machines people
Position, avoid interference produce.Since track plate bulk is larger, and the field range of three-dimensional imaging instrument is limited, needs Multiple-Scan
Measure could obtain track plates track surface point cloud and characteristic area (track plates centre fill orifice and peripheral portion region,
The intermediate position of four sides of track plates) point cloud.According to《III plate-type fragment-free track slab pretensioned prestressings of high-speed railway CRTS
Concrete railway board》In " track plates appearance and size deviation requirement ", based on windows platform and handheld manipulator (KUKA
SmartPAD), the third party's language conversion interface routine provided by library card, converts windows platform development language to library
Card robot programming language (KRL-KUKA Robot Language) realizes the integrated of control system, to robot motion road
Diameter is planned, after many tests, is calculated and is optimized, devises the optimal motion path of robot.And realize robot by
The purpose moved automatically according to optimal path.
As illustrated in fig. 1 and 2, a kind of robot optimal path forming method for the acquisition of track plates point cloud data, including
The following steps：
Step 1) uses the scan mode of taking pictures of three-dimensional imaging instrument, and track plate surface is obtained by way of repeatedly measuring
The point cloud of a large amount of point cloud datas and characteristic area, the characteristic area selection track plates centre fill orifice and peripheral portion region,
The intermediate position of four sides of track plates；
Step 2) carries out programming development in Windows systems, is carried by handheld manipulator library card (KUKA smartPAD)
Third party's language conversion interface routine of confession converts windows platform development language to library card robot programming language (KRL-
KUKA Robot Language), to control Ku Ka robots automatic movement is completed according to regulation track and flow；
According to track plates appearance and size deviation requirement, robot motion path is planned, after many tests, calculate with
Optimization, thus obtains the optimal motion path of robot.
Preferably, it is based on《III plate-type fragment-free track slab pretensioning prestressed concrete track plates of high-speed railway CRTS》
In " track plates appearance and size deviation requirement " standard determine track plates appearance and size deviation requirement.
Preferably, in step 1), based on method such as (FARO) three-dimensional imaging instrument, a large amount of point cloud numbers of track plate surface are obtained
According to the point cloud with characteristic area；
Mechanical driving equipment is driven based on Ku Ka robots, and the method such as (FARO) three-dimensional imaging instrument is sent to track plates
Corresponding designated position.
Preferably, in step 2), further include：
Robot is controlled by hand-held programmer (PHG) to move along the working trajectory of straight line, circular arc or spline curve
Designated position at workpiece；
Meanwhile programmable device is stored the coordinates of motion and attitude data, completing robot will be to the scanning element of track plates
Carry out positioning study.
Preferably, in step 2), further include：
Interactive based on figure auxiliary programs, and is moulded including robot motion in the operation interface in Windows systems
The robot cell of system and its environment lists the expression formula of operation task, or visualizes motion process by analog module,
To carry out the motion process simulation of robot.
Preferably, in step 1),
Such as point cloud data is handled after certain detection operation, scanner is not optimum bit when there is some track
The case where setting then send specific instruction to library card machine device human hair, and the track to lacking parameter, which mend, surveys scanning.
In a specific embodiment, the present invention uses library card (KUKA) robot KR 90R3700prime K, the model
Robot possesses the load of 90KG, the additional load of 50KG, 3700 radius of clean-up and the repetitive positioning accuracy of 0.06mm, meets
Carry the work requirements that three-dimensional imaging instrument carries out the acquisition of track plates high-precision surface point cloud data.
The composition of library card (KUKA) robot includes control system, operation equipment and connecting cable and software.Library card machine
The element of device people is as follows：
Manipulator (robotic mechanical system)：Mechanical hand is the mechanical system theme of robot, it is by numerous movable, phases
Interconnect joint (axis) composition being connected together.Also commonly referred to as kinematic chain.The movement of each axis is directed to by servo motor
The regulation and control of property and realize.
Robot control system (trajectory planning)：Servo motor is controlled by (V) KR C4 control systems.Control system passes through
System bus is connected with manipulator to be controlled.The connection of control system and peripheral equipment can by bus system (such as：
ProfiNet, ethernet ip, Interbus) or the mode of network communication realize.
Hand-held and programmable device (library card smartPAD)：The operation of KUKA robots passes through handheld manipulator (i.e. KUKA
SmartPAD it) carries out, which can carry out custom programming as needed.Pass through KRL-KUKA Robot
Language (library card robot programming language) is programmed robot, it can be achieved that robot is complete according to regulation track and flow
At automatic movement.
For the position of each track of precise expression, press《III plate-type non-fragment orbits of QCR567-2017 high-speed railways CRTS are first
Open method prestressed concrete railway board》Each track is numbered, track plates lateral location is numbered respectively be track 21,
22,23 and 24.
As shown in Figure 1：By taking P5600 type track plates production boards as an example, track plates track surface and side special section are obtained
When field surface, the motion path of robot as shown in Fig. 2, the scan position posture that robot carries three-dimensional imaging instrument be perpendicular to
Track plate surface.
Lead-through teaching online programming refers to, and is directly programmed in robot working unit.In the process, it is compiled by means of hand-held
Journey device (PHG) control robot moves to the specific bit at workpiece along certain track (such as straight line, circular arc or spline curve)
It sets, meanwhile, programmable device is stored the coordinates of motion and attitude data.The scanning element of track plates will be determined by completing robot
Position study.
In the interactive off-line programing of figure auxiliary, operating procedure is divided into three phases.
First stage：Design component (including the III type rail of three-dimensional imaging instrument, Ku Ka robots and CRTS of a manufacturing cell
The threedimensional model of guidance tape).
Second stage：The geometric properties for describing working cell (generate operating point, are adjusted and are designed according to analog case
Robot base).
Phase III：It is programmed and simulates for operation task.
The present invention is carried out using the operating method of " lead-through programming " and " off-line programing " mixing in Windows systems
Windows platform development language is converted to machine by programming development, the third party's language conversion interface routine provided using library card
Human speech is sayed, and is directly connected with manipulator control cabinet by network or serial port data line, and motion control is carried out,
Manipulator control program carries out information exchange by language coversion program and switch board in this method, departing from library card
The limitation of PAD platforms and language realizes the integrated of control system.Manipulator control program and Ku Ka PAD belong to concurrency relation,
The control to manipulator both may be implemented.
Compared with prior art, the beneficial effects of the invention are as follows：
Rapidly and efficiently.Based on above-mentioned established robot optimal trajectory, an III type track plates surface point of CRTS is completed
Cloud data acquisition works, and takes≤5.0min, highly shortened track plates detection time, improve operating efficiency.
Safety and steady.III type track plates of CRTS detect overall process operation smoothness, and situations such as " emergency stop whip " do not occur, do not send out
Accidents such as raw " three-dimensional imaging instrument and orbiting collisions ".The safety of personnel and equipment is taken into account while ensureing detection speed.
Meet production procedure, installation procedure is simple.After III type track plates of the CRTS detection working time is in track plates maintenance
Before being laid with manufacture, meet production procedure.Robot is fixed on cement pier, and scope of activities is small, and installation procedure is simple.Not shadow
Castanets factory scene normal work.
Accurately and reliably.According to the moving line of optimal trajectory control robot, accurately robot can be moved successively
To designated position, the high-precision dot cloud data of III type track plates of obtained CRTS and its characteristic area include the institute of track plates detection
There is index.
The robot optimal motion path that the present invention realizes is fast, efficient, safe, accurately obtains track plate surface
Point cloud data is laid a good foundation.
The following further describes the present invention with reference to the drawings.
By taking P5600 type track plates production boards as an example, when obtaining track plates track surface and side special area surface, machine
The motion path of device people is as shown in Fig. 2, the scan position posture that robot carries three-dimensional imaging instrument is perpendicular to track plate surface.
(1) III type track plates automated detection system softwares of CRTS are run；
(2) whether detection robot connects normally；
(3) if connection is abnormal, exception information is prompted, is given a warning；After repairing unusual condition, re-execute (2)；
(4) move is sent to library card machine device human hair, track and each side number are as shown in Figure 1, robot motion road
Diameter is as follows：
1) robot moves to No. 1 track position from initial position, at track plate surface about 420mm, adjustment machinery
The three-dimensional imaging instrument of people front end makes its camera lens face track plate surface；
2) robot reference attitude does not change, and mobile robot is to 2 respectively --- No. 4 track positions, keep it is three-dimensional at
As instrument camera lens face track plate surface；
3) robot adjusts posture, moves to No. 21 positions of track, three-dimensional imaging instrument is enable to obtain track 21
Position track plate surface and side point cloud data；
4) robot is run to No. 5 track positions, adjustment posture with it is 1) consistent；
5) robot reference attitude does not change, respectively mobile robot to 5 --- No. 9 positions, keeps three-dimensional imaging instrument mirror
Head face track plate surface；
6) robot reference attitude does not change, is moved to No. 22 positions of track, three-dimensional imaging instrument is enable to obtain track
Plate right end face and side point cloud data；
7) robot reference attitude does not change, is respectively moved to 18,17,16,15 and No. 14 track positions, keeps three-dimensional
Imager camera lens face track plate surface；
8) robot adjusts posture, moves to No. 23 positions of track, three-dimensional imaging instrument is enable to obtain track 23
Position track plate surface and side point cloud data；
9) robot is run to No. 13 track positions, adjustment posture with it is 1) consistent；
10) robot reference attitude does not change, is respectively moved to 13,12,11 and No. 10 track positions, keep it is three-dimensional at
As instrument camera lens face track plate surface；
11) robot reference attitude does not change, is moved to No. 24 positions of track, three-dimensional imaging instrument is enable to obtain track
Plate left end surface and side point cloud data；
12) robot is moved to initial position.
13) robot completes all movements, terminates operation.
It should be noted that for above method embodiment, for simple description, therefore it is all expressed as a series of
Combination of actions, but those skilled in the art should understand that, the application is not limited by the described action sequence because
According to the application, certain steps can be performed in other orders or simultaneously.Secondly, those skilled in the art should also know
It knows, embodiment described in this description belongs to preferred embodiment, involved action and module not necessarily the application
It is necessary.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.
It can be used in the computer that one or more wherein includes computer usable program code moreover, the application can be used
The computer program product implemented on storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Form.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (9)
1. a kind of robot optimal path forming method for the acquisition of track plates point cloud data, which is characterized in that including following
Step：
Step 1) uses the scan mode of taking pictures of three-dimensional imaging instrument, and a large amount of of track plate surface are obtained by way of repeatedly measuring
The point cloud of point cloud data and characteristic area, the characteristic area selection track plates centre fill orifice and peripheral portion region, track
The intermediate position of four sides of plate；
Step 2) carries out programming development in Windows systems, is provided by handheld manipulator library card (KUKA smartPAD)
Third party's language conversion interface routine converts windows platform development language to library card robot programming language (KRL-KUKA
Robot Language), to control Ku Ka robots automatic movement is completed according to regulation track and flow；
According to track plates appearance and size deviation requirement, robot motion path is planned, after many tests, calculate with it is excellent
Change, thus obtains the optimal motion path of robot.
2. the robot optimal path forming method according to claim 1 for the acquisition of track plates point cloud data, special
Sign is, is based on《III plate-type fragment-free track slab pretensioning prestressed concrete track plates of high-speed railway CRTS》In " track plates
Appearance and size deviation requirement " standard determines track plates appearance and size deviation requirement.
3. the robot optimal path forming method according to claim 1 or 2 for the acquisition of track plates point cloud data,
It is characterized in that, in step 1), based on method such as (FARO) three-dimensional imaging instrument, obtains a large amount of point cloud datas and feature of track plate surface
The point cloud in region；
Mechanical driving equipment is driven based on Ku Ka robots, and the method such as (FARO) three-dimensional imaging instrument is sent to track plates and is corresponded to
Designated position.
4. the robot optimal path forming method according to claim 1 or 2 for the acquisition of track plates point cloud data,
It is characterized in that, in step 2), further includes：
Robot, which is controlled, by hand-held programmer (PHG) moves to work along the working trajectory of straight line, circular arc or spline curve
Designated position at part；
Meanwhile programmable device is stored the coordinates of motion and attitude data, the scanning element of track plates will be carried out by completing robot
Positioning study.
5. the robot optimal path forming method according to claim 1 or 2 for the acquisition of track plates point cloud data,
It is characterized in that, in step 2), further includes：
Interactive based on figure auxiliary programs, and is moulded including robot motion's system in the operation interface in Windows systems
And its robot cell of environment, list the expression formula of operation task, or visualize motion process by analog module, with into
The motion process of row robot is simulated.
6. the robot optimal path forming method according to claim 3 for the acquisition of track plates point cloud data, special
Sign is, in step 1),
Such as point cloud data is handled after certain detection operation, scanner is not optimum position when there is some track
Situation then send specific instruction to library card machine device human hair, and the track to lacking parameter, which mend, surveys scanning.
7. the robot optimal path forming method according to claim 3 for the acquisition of track plates point cloud data, special
Sign is, in step 1), the scan position posture that robot carries three-dimensional imaging instrument is perpendicular to track plate surface.
8. the robot optimal path forming method according to claim 5 for the acquisition of track plates point cloud data, special
Sign is that the interactive programming based on figure auxiliary specifically includes：
Sub-step 1) one manufacturing cell of design component, including III type track plates of three-dimensional imaging instrument, Ku Ka robots and CRTS
Threedimensional model；
Sub-step 2) description working cell geometric properties, generate operating point, be adjusted and planing machine according to analog case
People's pedestal；And sub-step 3) it is that operation task is programmed and simulates.
9. the robot optimal path forming method according to claim 1 for the acquisition of track plates point cloud data, special
Sign is that track plates select III type fragment-free track slabs of CRTS.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810104269.2A CN108466264B (en) | 2018-02-02 | 2018-02-02 | Robot optimal path forming method for track slab point cloud data acquisition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810104269.2A CN108466264B (en) | 2018-02-02 | 2018-02-02 | Robot optimal path forming method for track slab point cloud data acquisition |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108466264A true CN108466264A (en) | 2018-08-31 |
| CN108466264B CN108466264B (en) | 2021-12-21 |
Family
ID=63266059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810104269.2A Active CN108466264B (en) | 2018-02-02 | 2018-02-02 | Robot optimal path forming method for track slab point cloud data acquisition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108466264B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115407420A (en) * | 2022-07-15 | 2022-11-29 | 中国第一汽车股份有限公司 | Automobile windshield surface detection system and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2068280B1 (en) * | 2007-12-07 | 2013-01-23 | Honda Motor Co., Ltd. | Image Distortion Correction |
| CN106055820A (en) * | 2016-06-07 | 2016-10-26 | 铁道第三勘察设计院集团有限公司 | CRTS (Slab Ballastless Track) III type track slab machining deviation detection method and informatization method for detection results |
| CN106500697A (en) * | 2016-10-13 | 2017-03-15 | 浙江工业大学 | It is applied to the LTL A* A* optimum path planning methods of dynamic environment |
| CN106931885A (en) * | 2017-04-17 | 2017-07-07 | 铁道第三勘察设计院集团有限公司 | The quick, intelligent detecting system of track traffic basic component size and method |
| CN107538487A (en) * | 2017-02-16 | 2018-01-05 | 北京卫星环境工程研究所 | Robot method for automatic measurement and system for large scale complicated surface |
-
2018
- 2018-02-02 CN CN201810104269.2A patent/CN108466264B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2068280B1 (en) * | 2007-12-07 | 2013-01-23 | Honda Motor Co., Ltd. | Image Distortion Correction |
| CN106055820A (en) * | 2016-06-07 | 2016-10-26 | 铁道第三勘察设计院集团有限公司 | CRTS (Slab Ballastless Track) III type track slab machining deviation detection method and informatization method for detection results |
| CN106500697A (en) * | 2016-10-13 | 2017-03-15 | 浙江工业大学 | It is applied to the LTL A* A* optimum path planning methods of dynamic environment |
| CN107538487A (en) * | 2017-02-16 | 2018-01-05 | 北京卫星环境工程研究所 | Robot method for automatic measurement and system for large scale complicated surface |
| CN106931885A (en) * | 2017-04-17 | 2017-07-07 | 铁道第三勘察设计院集团有限公司 | The quick, intelligent detecting system of track traffic basic component size and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115407420A (en) * | 2022-07-15 | 2022-11-29 | 中国第一汽车股份有限公司 | Automobile windshield surface detection system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108466264B (en) | 2021-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102135776B (en) | Industrial robot control method based on visual positioning | |
| CN101362511B (en) | Synergetic control method of aircraft part pose alignment based on four locater | |
| CN108286949B (en) | Movable three-dimensional detection robot system | |
| CN101261118A (en) | Rapid automatized three-dimensional appearance on-line measurement method and system based on robot | |
| CN104942808A (en) | Robot motion path off-line programming method and system | |
| CN105598970B (en) | Closed-loop robot system and its control method | |
| CN104972362A (en) | Intelligent force control robot grinding system and method | |
| CN103853133A (en) | Robot system calibration method | |
| CN104553353B (en) | The controllable distance indicating means of a kind of 3D laser marking machine, marking method, controllable distance instruction device and 3D laser marking machine | |
| CN103759635A (en) | Scanning measurement robot detection method allowing precision to be irrelevant to robot | |
| CN103885390A (en) | Demonstration-free laser three-dimensional measurement method based on reverse engineering technology and device | |
| CN104298244A (en) | Industrial robot three-dimensional real-time and high-precision positioning device and method | |
| CN103434609A (en) | Automatic marking device for ship hull section outer plate | |
| CN102451953A (en) | Multi-functional laser processing manufacturing system | |
| CN113246142B (en) | Measuring path planning method based on laser guidance | |
| CN103753584A (en) | Mechanical arm control system | |
| CN108278970A (en) | A kind of III type track plates machining deviation automated detection methods of CRTS | |
| CN101362513A (en) | Synergetic control method of aircraft part pose alignment based on three locater | |
| Anderson | Autonomous, teleoperated, and shared control of robot systems | |
| CN114055467B (en) | Space pose online simulation system based on five-degree-of-freedom robot | |
| CN108466264A (en) | A kind of robot optimal path forming method for the acquisition of track plates point cloud data | |
| CN111360789A (en) | Workpiece processing teaching method, control method and robot teaching system | |
| Ramer et al. | A robot motion planner for 6-DOF industrial robots based on the cell decomposition of the workspace | |
| CN105527980A (en) | Target tracking control method of binocular visual system | |
| CN113916499B (en) | System and method for detecting tracking performance of movable platform optical measuring equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |