CN109571480A - A kind of automobile washing machine people Trajectory Planning System and method - Google Patents
A kind of automobile washing machine people Trajectory Planning System and method Download PDFInfo
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- CN109571480A CN109571480A CN201811621189.0A CN201811621189A CN109571480A CN 109571480 A CN109571480 A CN 109571480A CN 201811621189 A CN201811621189 A CN 201811621189A CN 109571480 A CN109571480 A CN 109571480A
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- cleaning
- module
- robot
- trajectory planning
- washing machine
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Present invention discloses kind of automobile washing machine people's Trajectory Planning Systems characterized by comprising communication module: realizing and vision subsystem and robot controller system data interaction；The shape handles module: the contour of the vehicle data obtained to vision subsystem are handled, and establish auto model；Technological parameter module: cleaning process parameter is determined；Trajectory planning module: the cleaning robot track of optimal cleaning effect can be generated according to auto model and determining cleaning process parameter generation is established.STL model of the present invention to scanning and the processing of different size automobile, automatically it is split cleaning area, and carry out path planning, to the path of planning, calculate how robot moves according to the design feature of robot, when movement each shaft angle degree variation, and send controller for the program results, so that cleaning robot work is more accurate, cleaning effect is more preferable.
Description
Technical field
The present invention relates to the offline trajectory planning field of automatic automobile cleaning machine device people, and it is expansible be applied to it is other similar
The offline Trajectory Planning System of function robot.
Background technique
Automobile is during travelling and parking, due to by the pollution from atmosphere, ground, exhaust combustion gases etc., surface and
Exposed part inevitably deposits the pollutants such as smog, dust, greasy dirt, carbon distribution, oxide；These pollutants can not only increase
Add automobile fuel consumption, also will cause the corrosion of car surface paint layer, so vehicle owner pays much attention to automobile washing.
In order to promote cleaning degree, improve efficiency, save the cost, automobile washing is completed using Special cleaning machine people
The trend of future development will be become.Robot is to need to realize that automobile is clear according to certain path in cleaning car surface
It washes, this segregation reasons system proposes the threedimensional model according to automobile, is split cleaning area automatically, and carry out path planning；
To the path of planning, calculate how robot moves according to the design feature of robot, when movement each shaft angle degree variation, and
Controller is sent by the program results, controller can realize the movement of robot according to the result.
For robot cleaning technique, having number of patent application is application number: 201611096191.1, patent name is " one
Kind of automobile cleaning system and cleaning method " open source literature, but the cleaning system does not have segregation reasons, can not carry out to vehicle
More accurate cleaning.
Summary of the invention
The technical problem to be solved by the present invention is to realize that one kind can plan car model surface tracks, so that cleaning
More accurate system.
To achieve the goals above, a kind of the technical solution adopted by the present invention are as follows: automobile washing machine people's trajectory planning system
System characterized by comprising
Communication module: it realizes and vision subsystem and robot controller system data interaction；
The shape handles module: the contour of the vehicle data obtained to vision subsystem are handled, and establish auto model；
Technological parameter module: cleaning process parameter is determined；
Trajectory planning module: optimal cleaning effect can be generated according to establishing auto model and determining that cleaning process parameter generates
Cleaning robot track.
Motion-control module: it is each that robot is converted into according to the end effector motion profile that cleaning robot track generates
The motion profile in joint；
Program generating module: motion profile is transformed into the program language that robot can identify.
System further include: analysis emulation module: the cleaning covering of car surface when realizing the cleaning of graphic software platform robot
Areas case, and the deviation data of cleaning area on bodywork surface is provided with tabular form, or be equipped with different color with contour
Mode show the spatial distribution effect picture of cleaning area on the computer screen.
System further include: data management module: the parameter that car model information, cleaning track program and user establish is saved
Template.
System further include: human-computer interaction module: the operation, display and interactive function of all modules are completed.
The technological parameter module: providing interface for user and input cleaning process parameter, if user is not provided with, technique ginseng
Digital-to-analogue root tuber calculates optimal value according to the model of standard automatically.
The cleaning process parameter includes cleaning speed, round brush height, external bias, turning radius, stroke spacing.
Method for planning track based on automobile washing machine people's Trajectory Planning System, comprising:
1) pretreatment layer realizes the standard robotic format conversion under ROS platform, defines part model, allows user couple
The data such as technological parameter and Robot calibration are loaded into；
2) planning layer realizes the offline trajectory planning of complex curve or curved surface, realizes motion planning and robot control, realizes to rail
Mark point is optimized and revised；
3) editing layer, which is realized, operates customer parameter, track, the editor of program, preservation, reading etc., and may be implemented and control
The communication of device processed etc.；
4) alternation of bed provides user interface, realizes operation of the user to software, and realize the management of account.
The present invention is split cleaning area to the STL model of scanning and the processing of different size automobile automatically, and carries out
Path planning calculates how robot moves according to the design feature of robot to the path of planning, when movement each shaft angle degree
Variation, and send controller for the program results, so that cleaning robot work is more accurate, cleaning effect is more preferable.
Detailed description of the invention
The content of width attached drawing every in description of the invention expression is briefly described below:
Fig. 1 is automobile washing machine people Trajectory Planning System schematic diagram；
Fig. 2 is automobile washing machine people method for planning track schematic diagram.
Specific embodiment
Below against attached drawing, by the description of the embodiment, for example related each component of a specific embodiment of the invention
Shape, construction, the mutual alignment between each section and connection relationship, the effect of each section and working principle, manufacturing process and
Operate with method etc., is described in further detail, to help those skilled in the art to inventive concept of the invention, technology
Scheme has more complete, accurate and deep understanding.
Automobile washing machine people's Trajectory Planning System provides the robot data format of standard, provides definition robot and connects
Mouthful, realize that robot is customized.Complex curve and the automatic planning robot's motion profile of curved surface can be directed to.Convenient and fast machine is provided
Device people motor performance and kinematics sequences interface.It can be realized visual simulating.Realize robot kinematics emulation and
The display of end implementation effect.The robot instruction of realization standard and creation, editor and the modification of program.Realization and vision system
Program input and output between robot controller.
Offline cleaning trajectory planning module completes the offline clear of vehicle body using the vehicle body threedimensional model and posture information obtained
Trajectory planning is washed, while according to pose transformation relation between vehicle body digital-to-analogue and reality, generating robot clear instruction, and program is sent out
Give controller.
To realize all set functions, robot off-line cleaning software subsystem is needed comprising following nine big modules, such as
Shown in Fig. 1, i.e., the shape handles module, technological parameter module, trajectory planning module, motion-control module, analysis emulation module, journey
Sequence generation module, communication module, data management module and human-computer interaction module.
(1) the shape handles module.For complex-curved, curved surface is handled using specific process.After treatment, it is
The data of object are just housed in system database, provide cleaning type data information for vision matching and trajectory planning track.
(2) technological parameter module.Interface is provided and inputs cleaning process parameter for user.Such as cleaning speed, round brush height, outer
Portion's biasing, turning radius, stroke spacing etc..It, can be automatic according to the model of standard if user is not provided with for these parameters
Calculate optimal value.
(3) trajectory planning module.Various parameters in the data and cleaning process that the module is transmitted according to other modules, from
Dynamic generation can generate the cleaning robot track of optimal cleaning effect.The module is integrated with approachability analysis, collision detection, movement
Planning, trajectory planning scheduling algorithm, are the cores of entire software systems.
(4) motion-control module.The major function of this module is according to Robotic inverse kinematics principle, by upper module institute
The end effector motion profile of generation is converted into the motion profile in each joint of robot, to provide machine for analysis emulation module
The exercise data of device people.
(5) emulation module is analyzed.The cleaning area of coverage of car surface when this module realizes the cleaning of graphic software platform robot
Domain situation, and the deviation data of cleaning area on bodywork surface is provided with tabular form, it can also be equipped with contour not homochromy
Color mode shows the spatial distribution effect picture of cleaning area on the computer screen.
(6) program generating module.It completes the motion profile (being provided by robot motion track generation module) of robot
It is transformed into its program language that can be identified.
(7) communication module.It realizes and vision subsystem and robot controller system data interaction.
(8) data management module.The parameterized template that car model information, cleaning track program and user establish is saved, is mentioned
High program repeats the property called.
(9) human-computer interaction module.Operation, display and the interactive function for completing above-mentioned all modules provide friendly interaction
Interface and user experience.
As shown in Fig. 2, automobile washing machine people's method for planning track is four levels.Respectively pretreatment layer, planning layer,
Editing layer and alternation of bed.
(1) pretreatment layer realizes the standard robotic format conversion under ROS platform, defines part model, allows user
The data such as technological parameter and Robot calibration are loaded into.
(2) planning layer realizes the offline trajectory planning of complex curve or curved surface, realizes motion planning and robot control, realizes to rail
Mark point is optimized and revised.
(3) editing layer realize to customer parameter, track, the editor of program, preservation, reading etc. operate, and may be implemented with
The communication of controller etc..
(4) alternation of bed provides user interface, realizes operation of the user to software, and realize the management of account.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out is used, or without changing
It is within the scope of the present invention into the conception and technical scheme of the invention are directly applied to other occasions.
Claims (7)
1. a kind of automobile washing machine people's Trajectory Planning System characterized by comprising
Communication module: it realizes and vision subsystem and robot controller system data interaction；
The shape handles module: the contour of the vehicle data obtained to vision subsystem are handled, and establish auto model；
Technological parameter module: cleaning process parameter is determined；
Trajectory planning module: the clear of optimal cleaning effect can be generated according to establishing auto model and determining that cleaning process parameter generates
Wash robot trajectory.
Motion-control module: each joint of robot is converted into according to the end effector motion profile that cleaning robot track generates
Motion profile；
Program generating module: motion profile is transformed into the program language that robot can identify.
2. automobile washing machine people's Trajectory Planning System according to claim 1, it is characterised in that: system further include: point
Analyse emulation module: the cleaning coverage condition of car surface when realizing the cleaning of graphic software platform robot, and with tabular form
The deviation data of cleaning area on bodywork surface is provided, or is shown on the computer screen with the mode that contour is equipped with different color
The spatial distribution effect picture of cleaning area is shown.
3. automobile washing machine people's Trajectory Planning System according to claim 2, it is characterised in that: system further include: number
According to management module: saving the parameterized template that car model information, cleaning track program and user establish.
4. automobile washing machine people's Trajectory Planning System according to claim 3, it is characterised in that: system further include: people
Machine interactive module: the operation, display and interactive function of all modules are completed.
5. automobile washing machine people's Trajectory Planning System according to claim 1,2,3 or 4, it is characterised in that: the work
Skill parameter module: interface is provided for user and inputs cleaning process parameter, if user is not provided with, technological parameter module is according to standard
Model calculate optimal value automatically.
6. automobile washing machine people's Trajectory Planning System according to claim 5, it is characterised in that: the cleaning process ginseng
Number includes cleaning speed, round brush height, external bias, turning radius, stroke spacing.
7. special based on the method for planning track of automobile washing machine people's Trajectory Planning System any in claim 1-6
Sign is, comprising:
1) pretreatment layer realizes the standard robotic format conversion under ROS platform, defines part model, allows user to technique
The data such as parameter and Robot calibration are loaded into；
2) planning layer realizes the offline trajectory planning of complex curve or curved surface, realizes motion planning and robot control, realizes to tracing point
Optimize and revise；
3) editing layer, which is realized, operates customer parameter, track, the editor of program, preservation, reading etc., and may be implemented and controller
Deng communication；
4) alternation of bed provides user interface, realizes operation of the user to software, and realize the management of account.
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Cited By (9)
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| CN111086002A (en) * | 2019-12-30 | 2020-05-01 | 芜湖哈特机器人产业技术研究院有限公司 | Airplane cleaning robot and control method thereof |
| CN112439753A (en) * | 2019-09-02 | 2021-03-05 | 涩谷机器株式会社 | Cleaning device and operation setting method thereof |
| CN112757288A (en) * | 2020-11-17 | 2021-05-07 | 上海智殷自动化科技有限公司 | Industrial robot motion control method with adaptive process parameters |
| CN113012149A (en) * | 2021-04-14 | 2021-06-22 | 北京铁道工程机电技术研究所股份有限公司 | Intelligent cleaning robot path planning method and system |
| CN113256708A (en) * | 2021-04-07 | 2021-08-13 | 深圳群宾精密工业有限公司 | Calibration method for theoretical 3D space and actual robot space |
| CN114521939A (en) * | 2022-04-24 | 2022-05-24 | 北京智愈医疗科技有限公司 | Automatic water jet cutting implementation method and system |
| CN114970632A (en) * | 2022-06-01 | 2022-08-30 | 长春理工大学 | Pollutant removing method and device based on multi-pulse laser |
| CN116627057A (en) * | 2023-05-30 | 2023-08-22 | 驭慕科技(上海)有限公司 | Control method of cleaning system, storage medium and program |
| CN117901144A (en) * | 2024-03-19 | 2024-04-19 | 湖南蓝天机器人科技有限公司 | AGV car washing robot intelligent control method and system |
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| CN114521939A (en) * | 2022-04-24 | 2022-05-24 | 北京智愈医疗科技有限公司 | Automatic water jet cutting implementation method and system |
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| CN114970632A (en) * | 2022-06-01 | 2022-08-30 | 长春理工大学 | Pollutant removing method and device based on multi-pulse laser |
| CN114970632B (en) * | 2022-06-01 | 2024-05-10 | 长春理工大学 | Contaminant removal method and device based on multi-pulse laser |
| CN116627057A (en) * | 2023-05-30 | 2023-08-22 | 驭慕科技(上海)有限公司 | Control method of cleaning system, storage medium and program |
| CN116627057B (en) * | 2023-05-30 | 2024-05-28 | 驭慕科技(上海)有限公司 | Control method of cleaning system, storage medium and program |
| CN117901144A (en) * | 2024-03-19 | 2024-04-19 | 湖南蓝天机器人科技有限公司 | AGV car washing robot intelligent control method and system |
| CN117901144B (en) * | 2024-03-19 | 2024-05-14 | 湖南蓝天机器人科技有限公司 | AGV car washing robot intelligent control method and system |
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Application publication date: 20190405 |