CN108839056B - Robot tracking method and tracking device - Google Patents
Robot tracking method and tracking device Download PDFInfo
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- CN108839056B CN108839056B CN201810659114.5A CN201810659114A CN108839056B CN 108839056 B CN108839056 B CN 108839056B CN 201810659114 A CN201810659114 A CN 201810659114A CN 108839056 B CN108839056 B CN 108839056B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- 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
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- G—PHYSICS
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Abstract
The invention discloses a robot tracking method and a robot tracking device.A image acquisition module is connected with an image processing module and then connected to a PLC (programmable logic controller), a positioning module, an automatic track generation module and an infrared obstacle avoidance sensing module are connected with the input end of the PLC, the output end of the PLC is connected with a motor driving module, a buzzer and a liquid crystal display module, the PLC drives a robot to advance through the motor driving module, and the PLC is in two-way communication with a remote terminal through a wireless communication module. The robot tracking method and the robot tracking device provided by the invention are improved on the basis of the robot in the prior art, the robot is controlled to automatically simulate and generate a traveling track curve and avoid obstacles to travel, the position information and the total number of all target workpieces are tracked and displayed in a liquid crystal display module in real time after image acquisition and processing, and meanwhile, the position information and the total number of the target workpieces can be transmitted to a remote terminal for backup, so that the tracking efficiency is improved.
Description
Technical Field
The present invention relates to the field of robot technology, and in particular, to a robot tracking method and a robot tracking device.
Background
The appearance of intelligent concept has promoted the rapid development of robot technique, and it becomes a development trend to use the robot to replace traditional artifical work, not only can improve work efficiency, reduces artifical old cost, can also improve the operation precision, replaces artifical some dangerous tasks of accomplishing, and for this reason, how to realize the target tracking and realize human-computer interaction simultaneously through the robot has important realistic meaning.
Disclosure of Invention
The present invention is directed to a robot tracking method and a robot tracking device.
The technical problem to be solved by the invention can be realized by the following technical scheme:
a robot tracking method, comprising the steps of:
the method comprises the following steps that firstly, a remote terminal transmits a two-dimensional color real object picture of a target workpiece to a main controller module of a robot through a wireless communication module, an image processing module of the main controller module analyzes and processes the real object picture of the target workpiece, and characteristic information of the target workpiece is obtained and stored;
step two, the remote terminal transmits a storage place of the workpiece to the main controller module through the wireless communication module, a plurality of target workpieces and a plurality of non-target workpieces are placed at the storage place of the workpiece, the main controller module receives the storage place of the workpiece, a positioning module of the main controller module monitors the position of the current robot in real time and uploads the position to a PLC (programmable logic controller) of the main controller module, a liquid crystal display module of the main controller module displays a map of the current position in real time and positions of the robot and the storage place of the workpiece in the map respectively, and the remote terminal and the liquid crystal display module synchronously display the position;
step three, an automatic track generation module of the main controller module respectively generates tracks according to the positions of the current robot and the workpiece storage places in the map in the step two, and a track curve of the robot going to the workpiece storage places is simulated in the map of the current position and used for guiding the traveling direction of the robot;
fourthly, the PLC of the main controller module drives the robot to move according to the track curve of the third step, an infrared obstacle avoidance sensing module of the main controller module detects obstacles of the robot in the traveling process in real time, and the robot performs obstacle avoidance traveling until the robot travels to a storage place of the workpiece;
step five, respectively carrying out image acquisition on all workpieces at the workpiece storage location through an image acquisition module of a main controller module and uploading the acquired images to an image processing module for processing, acquiring characteristic information of each workpiece, carrying out one-to-one matching processing on the characteristic information of each workpiece and the characteristic information of the target workpiece in the step one through a PLC (programmable logic controller) until the workpiece completely consistent with the target workpiece is found, driving a buzzer to sound by the main controller module, acquiring position information of all workpieces matched with the target workpiece in the step one by a positioning module of the main controller module and uploading the position information to the PLC for processing, driving a liquid crystal display module to display the position of the current azimuth in a map in real time, uploading the position information to a remote terminal, and recording and storing the total number of the tracked target workpieces through a counting module of the main controller module, and displaying the position information of all the tracked target workpieces through the liquid crystal display module.
Further, in the first step, a two-dimensional color physical picture of the target workpiece is shot in advance through the CCD camera and stored in the remote terminal, and the image processing module of the main controller module analyzes and processes the physical picture of the target workpiece to obtain characteristic information of the target workpiece, including the shape, size and color of the target workpiece, and stores the characteristic information in the storage module of the main controller module for subsequent use as a tracking basis.
Furthermore, in the second step, the remote terminal transmits the storage place of the workpiece to a main controller module of the robot through the wireless communication module, a plurality of target workpieces and a plurality of non-target workpieces are placed at the storage place of the workpiece, the main controller module receives the storage place of the workpiece, a positioning module of the main controller module monitors the position of the current robot in real time and uploads the current position to the main controller module, a liquid crystal display module of the main controller module displays a map of the current position in real time and positions of the storage places of the current robot and the workpiece in the map respectively, the main controller module uploads the map and position information of the storage places of the current robot and the workpiece in the map respectively to the remote terminal in real time, and the remote terminal and the liquid crystal display module perform synchronous position display.
Further, in the fifth step, all workpieces in the workpiece storage place are respectively subjected to image acquisition through an image acquisition module of the main controller module and are respectively uploaded to an image processing module for processing, characteristic information of each workpiece is obtained and comprises the shape, the size and the color of each workpiece, the shape of each workpiece and the shape of the target workpiece in the first step are respectively subjected to one-to-one matching processing through a PLC (programmable logic controller), the size of each workpiece and the size of the target workpiece in the first step are respectively subjected to one-to-one matching processing through the PLC, the color of each workpiece and the color of the target workpiece in the first step are respectively subjected to one-to-one matching processing through the PLC until the workpiece completely consistent with the size, the shape and the color of the target workpiece is found, the PLC judges that the target workpiece is tracked, the buzzer sounds, and the position information of each tracked target workpiece is respectively acquired through the positioning module and is uploaded to the PLC for processing The method comprises the steps of processing, driving a liquid crystal display module to display the position of each target workpiece in a map in real time, displaying the position information corresponding to different target workpieces in real time in the liquid crystal display module, transmitting the current map and the position of each target workpiece in the map to a remote terminal through a wireless communication module to be displayed by a PLC (programmable logic controller), uploading the total number of the target workpieces recorded by a counting module to a storage module and the PLC of a main controller module, and transmitting the total number of the target workpieces to the remote terminal for backup through the wireless communication module by the PLC.
Further, including remote terminal, wireless communication module, bee calling organ, CCD camera and main control unit module, the main control unit module includes the PLC controller, motor drive module, the count module, image acquisition module, image processing module, orientation module, the liquid crystal display module, automatic orbit generation module and infrared obstacle-avoiding sensing module, image acquisition module links to each other with image processing module and reconnects to the PLC controller, orientation module, automatic orbit generation module and infrared obstacle-avoiding sensing module link to each other with the PLC controller input, PLC controller output and motor drive module, bee calling organ and liquid crystal display module link to each other, the PLC controller passes through motor drive module drive robot and advances, the PLC controller passes through wireless communication module and remote terminal both-way communication, the CCD camera shoots the object picture of target work piece and saves in remote terminal.
Furthermore, the remote terminal is a desktop computer, a notebook computer or a tablet computer, the image acquisition module is connected with the image processing module through a filter circuit, the definition of an image received by the image processing module is improved through the filter circuit, and the infrared obstacle avoidance sensing module adopts an infrared obstacle avoidance sensor.
Compared with the prior art, the invention has the beneficial effects that:
the invention discloses a robot tracking method and a tracking device, the tracking device comprises a remote terminal, a wireless communication module, a buzzer, a CCD camera and a main controller module, the main controller module comprises a PLC controller, a motor driving module, a counting module, an image acquisition module, an image processing module, a positioning module, a liquid crystal display module, an automatic track generation module and an infrared obstacle avoidance sensing module, the image acquisition module is connected with the image processing module and then connected to the PLC controller, the positioning module, the automatic track generation module and the infrared obstacle avoidance sensing module are connected with the input end of the PLC controller, the output end of the PLC controller is connected with the motor driving module, the buzzer and the liquid crystal display module, the PLC controller drives the robot to advance through the motor driving module, the PLC controller is in two-way communication with the remote terminal through the wireless communication module, the CCD camera shoots a real object picture of a target workpiece and stores the real object picture in the remote terminal, the robot is provided with a wireless communication module, a buzzer and a main controller module, has walking capability and is controlled by a motor driving module to advance. According to the robot tracking method and the robot tracking device, the robot is controlled to automatically simulate and generate a track curve for traveling and avoid obstacles to travel through a common remote terminal such as a computer, the storage place of the workpieces is safely reached, the position information and the total number of all target workpieces are tracked by transmitting the image to a PLC (programmable logic controller) after image acquisition and processing, a map and the position information of each target workpiece in the map are displayed in real time on a liquid crystal display module, meanwhile, the image can be transmitted to the remote terminal for backup, remote viewing is facilitated, the tracking efficiency is improved, the operation steps are simple and convenient, slight improvement can be performed on the basis of the robot in the prior art, intelligent tracking is realized through the electric module, and the application prospect is wide.
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FIG. 1 is a block diagram of the present invention.
Detailed Description
The technical means of the present invention will be described in detail below with reference to specific embodiments.
As shown in fig. 1, a robot tracking method includes the steps of:
the method comprises the following steps that firstly, a remote terminal transmits a two-dimensional color real object picture of a target workpiece to a main controller module of a robot through a wireless communication module, an image processing module of the main controller module analyzes and processes the real object picture of the target workpiece, and characteristic information of the target workpiece is obtained and stored;
step two, the remote terminal transmits a storage place of the workpiece to the main controller module through the wireless communication module, a plurality of target workpieces and a plurality of non-target workpieces are placed at the storage place of the workpiece, the main controller module receives the storage place of the workpiece, a positioning module of the main controller module monitors the position of the current robot in real time and uploads the position to a PLC (programmable logic controller) of the main controller module, a liquid crystal display module of the main controller module displays a map of the current position in real time and positions of the robot and the storage place of the workpiece in the map respectively, and the remote terminal and the liquid crystal display module synchronously display the position;
step three, an automatic track generation module of the main controller module respectively generates tracks according to the positions of the current robot and the workpiece storage places in the map in the step two, and a track curve of the robot going to the workpiece storage places is simulated in the map of the current position and used for guiding the traveling direction of the robot;
fourthly, the PLC of the main controller module drives the robot to move according to the track curve of the third step, an infrared obstacle avoidance sensing module of the main controller module detects obstacles of the robot in the traveling process in real time, and the robot performs obstacle avoidance traveling until the robot travels to a storage place of the workpiece;
step five, respectively carrying out image acquisition on all workpieces at the workpiece storage location through an image acquisition module of a main controller module and uploading the acquired images to an image processing module for processing, acquiring characteristic information of each workpiece, carrying out one-to-one matching processing on the characteristic information of each workpiece and the characteristic information of the target workpiece in the step one through a PLC (programmable logic controller) until the workpiece completely consistent with the target workpiece is found, driving a buzzer to sound by the main controller module, acquiring position information of all workpieces matched with the target workpiece in the step one by a positioning module of the main controller module and uploading the position information to the PLC for processing, driving a liquid crystal display module to display the position of the current azimuth in a map in real time, uploading the position information to a remote terminal, and recording and storing the total number of the tracked target workpieces through a counting module of the main controller module, and displaying the position information of all the tracked target workpieces through the liquid crystal display module.
In the first step, a two-dimensional color physical picture of a target workpiece is shot in advance through a CCD camera and stored in a remote terminal, an image processing module of a main controller module analyzes and processes the physical picture of the target workpiece, and characteristic information of the target workpiece, including the shape, the size and the color of the target workpiece, is obtained and stored in a storage module of the main controller module and is used as a tracking basis in the following process.
And in the second step, the remote terminal transmits the storage place of the workpiece to a main controller module of the robot through the wireless communication module, a plurality of target workpieces and a plurality of non-target workpieces are placed at the storage place of the workpiece, the main controller module receives the storage place of the workpiece, a positioning module of the main controller module monitors the position of the current robot in real time and uploads the position to the main controller module, a liquid crystal display module of the main controller module displays a map of the current position in real time and positions of the current robot and the storage place of the workpiece in the map respectively, the main controller module uploads the map and position information of the storage places of the current robot and the workpiece in the map respectively to the remote terminal in real time, and the remote terminal and the liquid crystal display module perform synchronous position display.
In the fifth step, all workpieces in the workpiece storage place are respectively subjected to image acquisition through an image acquisition module of a main controller module and are respectively uploaded to an image processing module for processing, characteristic information of each workpiece is obtained, the characteristic information comprises the shape, the size and the color of each workpiece, the shape of each workpiece and the shape of the target workpiece in the first step are respectively subjected to one-to-one matching processing through a PLC (programmable logic controller), the size of each workpiece and the size of the target workpiece in the first step are respectively subjected to one-to-one matching processing through the PLC, the color of each workpiece and the color of the target workpiece in the first step are respectively subjected to one-to-one matching processing through the PLC until the workpiece completely consistent with the size, the shape and the color of the target workpiece is found, the PLC judges that the target workpiece is tracked, a buzzer sounds, the position information of each tracked target workpiece is respectively acquired through a positioning module and is uploaded to the PLC for processing, the liquid crystal display module is driven to display the position of each target workpiece in the map in real time, the position information corresponding to different target workpieces is displayed in the liquid crystal display module in real time, the PLC controller transmits the current map and the position of each target workpiece in the map to the remote terminal through the wireless communication module to be displayed, the total number of the target workpieces recorded by the counting module is uploaded to the storage module and the PLC controller of the main controller module, and the PLC controller transmits the total number of the target workpieces to the remote terminal for backup through the wireless communication module.
As shown in figure 1, a robot tracking device comprises a remote terminal, a wireless communication module, a buzzer, a CCD camera and a main controller module, wherein the main controller module comprises a PLC controller, a motor driving module, a counting module, an image acquisition module, an image processing module, a positioning module, a liquid crystal display module, an automatic track generation module and an infrared obstacle avoidance sensing module, the image acquisition module is connected with the image processing module and then connected to the PLC controller, the positioning module, the automatic track generation module and the infrared obstacle avoidance sensing module are connected with the input end of the PLC controller, the output end of the PLC controller is connected with the motor driving module, the buzzer and the liquid crystal display module, the PLC controller drives a robot to advance through the motor driving module, the PLC controller is in two-way communication with the remote terminal through the wireless communication module, the CCD camera shoots a real object picture of a target workpiece and stores the real object picture in the remote terminal, the robot adopts a commercially available robot, such as a small armed robot purchased on the Internet, is improved on the basis of the small armed robot, and the wireless communication module, the buzzer and the main controller module are arranged at proper positions of the robot on the basis of realizing that the motor driving module is controlled by a PLC (programmable logic controller) to drive the robot to advance.
The remote terminal is a desktop computer, a notebook computer or a tablet computer, the image acquisition module is connected with the image processing module through a filter circuit, the definition of an image received by the image processing module is improved through the filter circuit, and the infrared obstacle avoidance sensing module adopts an infrared obstacle avoidance sensor.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (6)
1. A robot tracking method, comprising the steps of:
the method comprises the following steps that firstly, a remote terminal transmits a two-dimensional color real object picture of a target workpiece to a main controller module of a robot through a wireless communication module, an image processing module of the main controller module analyzes and processes the real object picture of the target workpiece, and characteristic information of the target workpiece is obtained and stored;
step two, the remote terminal transmits a storage place of the workpiece to the main controller module through the wireless communication module, a plurality of target workpieces and a plurality of non-target workpieces are placed at the storage place of the workpiece, the main controller module receives the storage place of the workpiece, a positioning module of the main controller module monitors the position of the current robot in real time and uploads the position to a PLC (programmable logic controller) of the main controller module, a liquid crystal display module of the main controller module displays a map of the current position in real time and positions of the robot and the storage place of the workpiece in the map respectively, and the remote terminal and the liquid crystal display module synchronously display the position;
step three, an automatic track generation module of the main controller module respectively generates tracks according to the positions of the current robot and the workpiece storage places in the map in the step two, and a track curve of the robot going to the workpiece storage places is simulated in the map of the current position and used for guiding the traveling direction of the robot;
fourthly, the PLC of the main controller module drives the robot to move according to the track curve of the third step, an infrared obstacle avoidance sensing module of the main controller module detects obstacles of the robot in the traveling process in real time, and the robot performs obstacle avoidance traveling until the robot travels to a storage place of the workpiece;
step five, respectively carrying out image acquisition on all workpieces at the workpiece storage location through an image acquisition module of a main controller module and uploading the acquired images to an image processing module for processing, acquiring characteristic information of each workpiece, carrying out one-to-one matching processing on the characteristic information of each workpiece and the characteristic information of the target workpiece in the step one through a PLC (programmable logic controller) until the workpiece completely consistent with the target workpiece is found, driving a buzzer to sound by the main controller module, acquiring position information of all workpieces matched with the target workpiece in the step one by a positioning module of the main controller module and uploading the position information to the PLC for processing, driving a liquid crystal display module to display the position of the current azimuth in a map in real time, uploading the position information to a remote terminal, and recording and storing the total number of the tracked target workpieces through a counting module of the main controller module, and displaying the position information of all the tracked target workpieces through the liquid crystal display module.
2. The robot tracking method according to claim 1, wherein in the first step, a two-dimensional color physical picture of the target workpiece is captured in advance by a CCD camera and stored in a remote terminal, and the image processing module of the main controller module analyzes and processes the physical picture of the target workpiece to obtain characteristic information of the target workpiece, including the shape, size and color of the target workpiece, and stores the characteristic information in the storage module of the main controller module for subsequent use as a tracking basis.
3. The robot tracking method according to claim 1, wherein in step two, the remote terminal transmits the storage place of the workpiece to a main controller module of the robot through a wireless communication module, a plurality of target workpieces and a plurality of non-target workpieces are placed at the storage place of the workpiece, the main controller module receives the storage place of the workpiece, a positioning module of the main controller module monitors the position of the current robot in real time and uploads the current robot to the main controller module, a liquid crystal display module of the main controller module displays a map of the current position in real time and positions of the storage places of the current robot and the workpiece in the map respectively, the main controller module uploads the map and position information of the storage places of the current robot and the workpiece in the map respectively to the remote terminal in real time, and the remote terminal and the liquid crystal display module are synchronously displayed.
4. The robot tracking method according to claim 1, wherein in the fifth step, the image acquisition module of the main controller module acquires images of all workpieces at the workpiece storage location and uploads the images to the image processing module for processing, characteristic information of each workpiece is obtained, including the shape, size and color of each workpiece, the PLC controller performs one-to-one pairing processing on the shape of each workpiece and the shape of the target workpiece in the first step, the PLC controller performs one-to-one pairing processing on the size of each workpiece and the size of the target workpiece in the first step, the PLC controller performs one-to-one pairing processing on the color of each workpiece and the color of the target workpiece in the first step until a workpiece completely consistent with the size, shape and color of the target workpiece is found, and the PLC controller determines that the target workpiece is tracked, the buzzer sounds, the position information of each tracked target workpiece is collected and uploaded to the PLC controller to be processed through the positioning module, the position of each target workpiece in the map is displayed in real time through the driving liquid crystal display module, the position information corresponding to different target workpieces is displayed in real time through the liquid crystal display module, the PLC controller transmits the current map and the position of each target workpiece in the map to the remote terminal through the wireless communication module to be displayed, the total number of the target workpieces recorded by the counting module is uploaded to the storage module and the PLC controller of the main controller module, and the PLC controller transmits the total number of the target workpieces to the remote terminal for backup through the wireless communication module.
5. A robot tracking device is characterized by comprising a remote terminal, a wireless communication module, a buzzer, a CCD camera and a main controller module, the main controller module comprises a PLC controller, a motor driving module, a counting module, an image acquisition module, an image processing module, a positioning module, a liquid crystal display module, an automatic track generation module and an infrared obstacle avoidance sensing module, the image acquisition module is connected with the image processing module and then connected to the PLC, the positioning module, the automatic track generation module and the infrared obstacle avoidance sensing module are connected with the input end of the PLC, the output end of the PLC is connected with the motor driving module, the buzzer and the liquid crystal display module, the PLC drives the robot to advance through the motor driving module, the PLC is in two-way communication with the remote terminal through the wireless communication module, and the CCD camera shoots a real object picture of a target workpiece and stores the picture in the remote terminal;
the method for tracking the robot by adopting the robot tracking device comprises the following steps:
the method comprises the following steps that firstly, a remote terminal transmits a two-dimensional color real object picture of a target workpiece to a main controller module of a robot through a wireless communication module, an image processing module of the main controller module analyzes and processes the real object picture of the target workpiece, and characteristic information of the target workpiece is obtained and stored;
step two, the remote terminal transmits a storage place of the workpiece to the main controller module through the wireless communication module, a plurality of target workpieces and a plurality of non-target workpieces are placed at the storage place of the workpiece, the main controller module receives the storage place of the workpiece, a positioning module of the main controller module monitors the position of the current robot in real time and uploads the position to a PLC (programmable logic controller) of the main controller module, a liquid crystal display module of the main controller module displays a map of the current position in real time and positions of the robot and the storage place of the workpiece in the map respectively, and the remote terminal and the liquid crystal display module synchronously display the position;
step three, an automatic track generation module of the main controller module respectively generates tracks according to the positions of the current robot and the workpiece storage places in the map in the step two, and a track curve of the robot going to the workpiece storage places is simulated in the map of the current position and used for guiding the traveling direction of the robot;
fourthly, the PLC of the main controller module drives the robot to move according to the track curve of the third step, an infrared obstacle avoidance sensing module of the main controller module detects obstacles of the robot in the traveling process in real time, and the robot performs obstacle avoidance traveling until the robot travels to a storage place of the workpiece;
step five, respectively carrying out image acquisition on all workpieces at the workpiece storage location through an image acquisition module of a main controller module and uploading the acquired images to an image processing module for processing, acquiring characteristic information of each workpiece, carrying out one-to-one matching processing on the characteristic information of each workpiece and the characteristic information of the target workpiece in the step one through a PLC (programmable logic controller) until the workpiece completely consistent with the target workpiece is found, driving a buzzer to sound by the main controller module, acquiring position information of all workpieces matched with the target workpiece in the step one by a positioning module of the main controller module and uploading the position information to the PLC for processing, driving a liquid crystal display module to display the position of the current azimuth in a map in real time, uploading the position information to a remote terminal, and recording and storing the total number of the tracked target workpieces through a counting module of the main controller module, and displaying the position information of all the tracked target workpieces through the liquid crystal display module.
6. The robot tracking device according to claim 5, wherein the remote terminal is a desktop computer, a notebook computer or a tablet computer, the image acquisition module is connected to the image processing module through a filter circuit, the image processing module receives an image with a higher definition through the filter circuit, and the infrared obstacle avoidance sensing module employs an infrared obstacle avoidance sensor.
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| CN207380002U (en) * | 2017-10-19 | 2018-05-18 | 河北大白机器人科技有限公司 | Novel intelligent security robot |
| CN108132670A (en) * | 2018-01-30 | 2018-06-08 | 天津中德应用技术大学 | Multifunctional inspecting robot and method of work based on distributed AC servo system |
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| CN205485455U (en) * | 2016-01-29 | 2016-08-17 | 聊城大学 | Vehicle chassis inspection robot control system |
| CN206426104U (en) * | 2017-01-24 | 2017-08-22 | 中国人民解放军火箭军工程大学 | Crawler type nuclear radiation monitoring robot control system |
| CN107368073A (en) * | 2017-07-27 | 2017-11-21 | 上海工程技术大学 | A kind of full ambient engine Multi-information acquisition intelligent detecting robot system |
| CN207380002U (en) * | 2017-10-19 | 2018-05-18 | 河北大白机器人科技有限公司 | Novel intelligent security robot |
| CN108132670A (en) * | 2018-01-30 | 2018-06-08 | 天津中德应用技术大学 | Multifunctional inspecting robot and method of work based on distributed AC servo system |
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