CN109866255B - Robot motion orientation identification method and device - Google Patents
Robot motion orientation identification method and device Download PDFInfo
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- CN109866255B CN109866255B CN201910287606.0A CN201910287606A CN109866255B CN 109866255 B CN109866255 B CN 109866255B CN 201910287606 A CN201910287606 A CN 201910287606A CN 109866255 B CN109866255 B CN 109866255B
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Abstract
The invention discloses a robot motion direction recognition device, which comprises a recognition host machine, wherein the top end of the recognition host machine is connected with a transmission line, the other end of the transmission line is connected with a mounting top plate, the bottom end of the mounting top plate is connected with a movable guide rail through a bolt, a support rod is connected between the inner walls of the movable guide rails, the bottom end of the movable guide rail is connected with a sliding seat in a sliding way, the bottom end of the sliding seat is provided with a mounting seat, and the inner wall of the mounting seat is connected with a camera in a rotating way. Can be when protecting the camera, carry out the drying to the camera, increased the protective capacities to the camera.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for identifying the motion orientation of a robot.
Background
The robot is a machine device for automatically executing work, can accept human commands, can run programs arranged in advance, and can also perform movements according to principles formulated by artificial intelligence technology, the task of the robot is to assist or replace the work of human work, such as production industry, construction industry or dangerous work, along with the development of science and technology, the robot is gradually appeared in various industries to assist people to learn or assist people to complete various works, the existing robots are various in types, and can move by grabbing objects to carry the objects, and the movement direction of the robot plays an important role in robot control, so that the accuracy and the moving effect of the robot control are influenced;
however, in the prior art, the time for calculating the motion direction of the robot is long, and the robot is prone to jamming in the motion process due to the fact that the robot changes the direction or adjusts the angle in a small range in the motion process of the robot.
Disclosure of Invention
The invention provides a technical scheme, which can effectively solve the problems that the motion direction of the robot provided by the background technology is long in calculation time, and the robot is easy to jam in the motion process due to the fact that the robot changes the direction or adjusts the angle in a small range in the motion process of the robot.
In order to achieve the purpose, the invention provides the following technical scheme: a robot motion orientation recognition device comprises a recognition host, wherein the top end of the recognition host is connected with a transmission line, the other end of the transmission line is connected with a mounting top plate, the bottom end of the mounting top plate is connected with a movable guide rail through a bolt, a support rod is connected between the inner walls of the movable guide rail, the bottom end of the support rod is uniformly connected with illuminating lamp beads, the bottom end of the movable guide rail is slidably connected with a sliding seat, the bottom end of the sliding seat is provided with a mounting seat, and the inner wall of the mounting seat is rotatably connected with a camera;
one end of the mounting seat is connected with a convenient lubricating mechanism, and the convenient lubricating mechanism comprises an oil storage seat, a connecting rod, an oil filling hole, an oil storage cavity, a limiting block, an oil delivery cotton sliver and a lubricating rubber pad;
the one end of mount pad is connected with the oil storage seat through the connecting rod, the tank filler sleeve has been seted up to the one end of oil storage seat, the oil storage chamber has been seted up to the inside of oil storage seat, the stopper is installed in the top embedding of oil storage seat, the oil transportation silver is installed in the even embedding in inside of stopper, the inner wall of stopper corresponds shift rail position department and is connected with lubricated cushion.
Preferably, the shape of the groove at the top of the limiting block is the same as that of the moving guide rail, and one end of the oil delivery cotton sliver penetrates through the lubricating rubber pad to be in contact with air.
Preferably, the bottom end of the installation top plate is connected with a camera protection mechanism, and the camera protection mechanism comprises a placing plate, a limiting placing clamp, a camera protection cover, a taking handle, a connecting plate, a soft clamp placing plate, a protection cover soft clamp, a magic tape, a drying agent plate and a drying through hole;
the bottom of installation roof is connected with places the board, the even symmetry in bottom of placing the board is installed spacing and is placed the clamp, spacing bottom of placing the clamp is connected with the camera protection casing, the bottom center department of camera protection casing is connected with the handle of taking, the both ends symmetric connection of sliding seat has the connecting plate, the soft clamp is installed to the bottom of connecting plate and is placed the board, the soft clamp is placed the bottom of board and is connected with the soft clamp of protection casing.
Preferably, the inner wall of the bottom end of the camera protective cover is connected with a drying agent plate through a magic tape, and drying through holes are uniformly formed in the outer side of the drying agent plate.
A robot motion orientation identification method comprises the following steps:
s1, constructing a coordinate system: shooting the initial position of the robot, selecting the initial position of the robot as an initial coordinate, and constructing a robot motion plane coordinate system;
s2, track shooting: shooting the motion track of the robot through a camera, and transmitting the shot video to an identification host;
s3, coordinate positioning: transmitting the track video of the robot motion to an identification host, substituting the track video into a robot motion plane coordinate system, and obtaining a final state coordinate vector after the robot motion;
s4, vector calculation: substituting the obtained final state coordinate vector, and calculating the offset angle and distance between the final state coordinate vector and the initial coordinate vector to obtain the motion direction and distance results of the robot;
s5, outputting the result: and deriving the orientation, distance and track results of the robot motion, and storing the data in a storage unit in the identification host.
According to the above technical features, in step S1, the number of cameras capturing the movement of the robot is 5, and the positions of the 5 cameras are all different.
According to the technical characteristics, in the step S2, when the trajectory of the robot motion is photographed, the same robot part as the initial photographing is selected as a reference point, and the photographed videos are screened.
According to the technical characteristics, in the step S3, the video of the motion trajectory of the robot is substituted into the robot motion plane coordinate system to obtain a plurality of final state coordinate vectors of the robot after motion, and the intermediate value is selected as the final value.
According to the technical characteristics, in step S4, the final coordinate vector and the initial coordinate vector are calculated to obtain the offset angle and the distance of the current motion of the robot.
According to the technical characteristics, in step S5, the obtained offset angle and distance of the current movement of the robot are calculated, and are output and presented to the user through the display screen, and the data of the current movement of the robot are stored in the storage unit of the recognition host.
Compared with the prior art, the invention has the beneficial effects that: the invention has scientific and reasonable structure and safe and convenient use:
1. through sliding connection of sliding seat and installation roof bottom removal guide rail, can remove the adjustment to the position of camera, be convenient for according to the position difference adjustment camera's when the robot uses position to increase the discernment accuracy to the robot motion orientation.
2. When the sliding seat is pushed to move along the movable guide rail, the sliding seat moves to drive the connecting rod and the oil storage seat which are connected with one end of the mounting seat to move, when the oil storage seat moves, the lubricating rubber pad and the oil delivery cotton sliver which are connected with the inner wall of the limiting block can be contacted with the movable guide rail, and the oil delivery cotton sliver can absorb and paint lubricating oil stored in the oil storage cavity on the movable guide rail, so that the sliding seat is convenient to lubricate when moving, and the movable guide rail is convenient to protect against rust.
3. The handle of taking through the pulling, with the camera protection casing from placing the spacing of board bottom and placing the interior pull-out of pressing from both sides to fix the camera protection casing through the soft clamp of protection casing respectively, protect the camera, combine the drier board of camera protection casing inner wall connection, can be when protecting the camera, carry out the drying to the camera, increased the protective capacities to the camera.
4. The illuminating lamp beads connected with the bottom end of the supporting rod operate to illuminate the shooting position of the camera, so that the shooting brightness can be quickly adjusted.
5. When the robot moves, the initial position of the robot is shot through the camera, the initial position of the robot is selected as an initial coordinate, a robot movement plane coordinate system is constructed, then the track of the robot movement is recorded through the camera, the same robot part as the initial shooting is selected as a reference point, screening the shot videos, transmitting the screened videos into an identification host, substituting the videos into a robot motion plane coordinate system to obtain a plurality of robot final state coordinate vectors after motion, selecting a middle value as a final value, calculating the obtained final state coordinate vector and the initial coordinate vector to obtain the offset angle and the distance of the current motion of the robot, and outputting the offset angle and the distance of the current movement of the robot on a display screen, and storing the data of the current movement of the robot in the identification host.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the mounting structure of the mounting top plate and the moving guide rail according to the present invention;
FIG. 3 is a schematic view of the mounting structure of the sliding seat and the mounting seat of the present invention;
FIG. 4 is a schematic structural view of a convenient lubrication mechanism of the present invention;
FIG. 5 is a schematic view of the connection structure of the tampon and the stopper according to the present invention;
FIG. 6 is a schematic structural view of a camera protection mechanism of the present invention;
FIG. 7 is a schematic view of the mounting structure of the soft clip placing board and the soft clip of the protecting cover according to the present invention;
figure 8 is a schematic view of the installation structure of the magic tape and the desiccant plate of the present invention;
FIG. 9 is a schematic flow diagram of the present invention;
reference numbers in the figures: 1. identifying a host; 2. a transmission line; 3. installing a top plate; 4. a moving guide rail; 5. a support bar; 6. a lighting lamp bead; 7. a sliding seat; 8. a mounting seat; 9. a camera;
10. a convenient lubrication mechanism; 1001. an oil storage seat; 1002. a connecting rod; 1003. an oil filling hole; 1004. an oil storage chamber; 1005. a limiting block; 1006. oil transportation cotton slivers; 1007. lubricating the rubber pad;
11. a camera protection mechanism; 1101. placing the plate; 1102. a limiting placing clamp; 1103. a camera shield; 1104. taking out the handle; 1105. a connecting plate; 1106. a soft clip placing plate; 1107. a protective cover soft clamp; 1108. magic tape; 1109. a desiccant plate; 1110. and drying the through holes.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example (b): as shown in fig. 1-9, the invention provides a technical scheme, which is a robot motion direction recognition device, and the robot motion direction recognition device comprises a recognition host 1, wherein the top end of the recognition host 1 is connected with a transmission line 2, the other end of the transmission line 2 is connected with a mounting top plate 3, the bottom end of the mounting top plate 3 is connected with a movable guide rail 4 through a bolt, a support rod 5 is connected between the inner walls of the movable guide rails 4, the bottom end of the support rod 5 is uniformly connected with illuminating lamp beads 6, the bottom end of the movable guide rail 4 is slidably connected with a sliding seat 7, the bottom end of the sliding seat 7 is provided with a mounting seat 8, and the inner wall of the mounting seat 8 is rotatably connected with a camera 9;
one end of the mounting seat 8 is connected with a convenient lubricating mechanism 10, and the convenient lubricating mechanism 10 comprises an oil storage seat 1001, a connecting rod 1002, an oil filling hole 1003, an oil storage cavity 1004, a limiting block 1005, an oil delivery cotton sliver 1006 and a lubricating rubber pad 1007;
the one end of mount pad 8 is connected with oil storage seat 1001 through connecting rod 1002, oil filler hole 1003 has been seted up to the one end of oil storage seat 1001, oil storage chamber 1004 has been seted up to the inside of oil storage seat 1001, stopper 1005 is installed in the top embedding of oil storage seat 1001, oil transportation silver 1006 is installed in the even embedding in inside of stopper 1005, the inner wall of stopper 1005 corresponds removal guide rail 4 position department and is connected with lubricated cushion 1007, the top groove shape of stopper 1005 is the same with removal guide rail 4, lubricated cushion 1007 and the air contact are passed to the one end of oil transportation silver 1006, the one end of the oil transportation silver 1006 of being convenient for is passed lubricated cushion 1007 and is lubricated to the surface of removal guide rail 4.
The bottom end of the mounting top plate 3 is connected with a camera protection mechanism 11, and the camera protection mechanism 11 comprises a placing plate 1101, a limiting placing clamp 1102, a camera protective cover 1103, a taking handle 1104, a connecting plate 1105, a soft clamp placing plate 1106, a protective cover soft clamp 1107, a magic tape 1108, a drying agent plate 1109 and a drying through hole 1110;
the bottom of installation roof 3 is connected with places board 1101, the even symmetry in bottom of placing board 1101 is installed spacing and is placed clamp 1102, the bottom that the spacing clamp 1102 of placing is connected with camera protection casing 1103, the bottom center department of camera protection casing 1103 is connected with and takes 1104, the both ends symmetric connection of sliding seat 7 has connecting plate 1105, the bottom of connecting plate 1105 is installed soft clamp and is placed board 1106, the bottom that board 1106 is placed to soft clamp is connected with the soft clamp 1107 of protection casing, the bottom inner wall of camera protection casing 1103 is connected with drier board 1109 through magic subsides 1108, drying through-hole 1110 has evenly been seted up in drier board 1109's the outside, be convenient for the drying when protecting camera 9, also be convenient for the change of drier board 1109.
A robot motion orientation identification method comprises the following steps:
s1, constructing a coordinate system: shooting the initial position of the robot, selecting the initial position of the robot as an initial coordinate, and constructing a robot motion plane coordinate system;
s2, track shooting: shooting the motion track of the robot through a camera, and transmitting the shot video to an identification host;
s3, coordinate positioning: transmitting the track video of the robot motion to an identification host, substituting the track video into a robot motion plane coordinate system, and obtaining a final state coordinate vector after the robot motion;
s4, vector calculation: substituting the obtained final state coordinate vector, and calculating the offset angle and distance between the final state coordinate vector and the initial coordinate vector to obtain the motion direction and distance results of the robot;
s5, outputting the result: and deriving the orientation, distance and track results of the robot motion, and storing the data in a storage unit in the identification host.
According to the above technical features, in step S1, the number of cameras that capture the movement of the robot is 5, and the positions of the 5 cameras are all different.
According to the technical characteristics, in step S2, when the trajectory of the robot motion is photographed, the same robot part as the initial photographing is selected as a reference point, and the photographed videos are screened.
According to the technical characteristics, in step S3, the video of the motion trajectory of the robot is substituted into the robot motion plane coordinate system to obtain a plurality of final state coordinate vectors of the robot after motion, and the intermediate value is selected as the final value.
According to the technical characteristics, in step S4, the final coordinate vector and the initial coordinate vector are calculated to obtain the offset angle and the distance of the current movement of the robot.
According to the technical characteristics, in step S5, the offset angle and the distance of the current movement of the robot are calculated, and are output and presented to the user through the display screen, and the data of the current movement of the robot are stored in the storage unit of the recognition host.
The working principle and the using process of the invention are as follows: when the method and the device for identifying the motion direction of the robot are used, a user can install the mounting top plate 3 on a ceiling right above the robot, and can move and adjust the position of the camera 9 through the sliding connection of the sliding seat 7 and the moving guide rail 4 at the bottom end of the mounting top plate 3, so that the position of the camera 9 can be conveniently adjusted according to the position of the robot when the robot is used, and the accuracy for identifying the motion direction of the robot is improved;
when the sliding seat 7 is pushed to move along the moving guide rail 4, the sliding seat 7 moves to drive the connecting rod 1002 and the oil storage seat 1001 connected with one end of the mounting seat 8 to move, when the oil storage seat 1001 moves, the lubricating rubber pad 1007 and the oil delivery cotton sliver 1006 connected with the inner wall of the limiting block 1005 contact with the moving guide rail 4, and the oil delivery cotton sliver 1006 absorbs and coats the lubricating oil stored in the oil storage cavity 1004 on the moving guide rail 4, so that the sliding seat 7 is convenient to lubricate during moving, and the moving guide rail 4 is also convenient to protect against rust;
if the light is darker during shooting, the illuminating lamp beads 6 connected to the bottom end of the supporting rod 5 run, and the shooting position of the camera 9 is illuminated, so that the shooting brightness is adjusted quickly, if the camera 9 is not needed, the taking handle 1104 can be pulled, the camera protective cover 1103 is pulled out of the limiting placing clamp 1102 at the bottom end of the placing plate 1101, the camera protective cover 1103 is fixed through the protective cover soft clamp 1107 respectively, the camera 9 is protected, and the camera 9 can be dried when the camera 9 is protected by combining the drying agent plate 1109 connected to the inner wall of the camera protective cover 1103, so that the protection capability of the camera 9 is improved;
when the robot moves, the initial position of the robot is shot through the camera 9, the initial position of the robot is selected as an initial coordinate, a robot movement plane coordinate system is constructed, then the movement track of the robot is recorded through the camera 9, the same robot part as the initial shot position is selected as a reference point, screening the shot videos, transmitting the screened videos into the identification host 1, substituting the videos into a robot motion plane coordinate system to obtain a plurality of robot final state coordinate vectors after motion, selecting a middle value as a final value, calculating the obtained final state coordinate vector and the initial coordinate vector to obtain the offset angle and the distance of the current motion of the robot, and outputting the offset angle and the distance of the current movement of the robot on a display screen, and storing the data of the current movement of the robot in the identification host 1.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides an identification means of robot motion orientation, includes discernment host computer (1), transmission line (2), installation roof (3), moving guide (4), bracing piece (5), lighting lamp pearl (6), sliding seat (7), mount pad (8), camera (9), its characterized in that: the top end of the recognition host (1) is connected with a transmission line (2), the other end of the transmission line (2) is connected with a mounting top plate (3), the bottom end of the mounting top plate (3) is connected with a movable guide rail (4) through a bolt, a support rod (5) is connected between the inner walls of the movable guide rail (4), the bottom end of the support rod (5) is uniformly connected with illuminating lamp beads (6), the bottom end of the movable guide rail (4) is connected with a sliding seat (7) in a sliding manner, the bottom end of the sliding seat (7) is provided with a mounting seat (8), and the inner wall of the mounting seat (8) is rotatably connected with a camera (9);
one end of the mounting seat (8) is connected with a convenient lubricating mechanism (10), and the convenient lubricating mechanism (10) comprises an oil storage seat (1001), a connecting rod (1002), an oil filling hole (1003), an oil storage cavity (1004), a limiting block (1005), an oil delivery cotton sliver (1006) and a lubricating rubber pad (1007);
one end of the mounting seat (8) is connected with an oil storage seat (1001) through a connecting rod (1002), one end of the oil storage seat (1001) is provided with an oil filling hole (1003), an oil storage cavity (1004) is formed inside the oil storage seat (1001), the top end of the oil storage seat (1001) is embedded with a limiting block (1005), an oil transportation cotton sliver (1006) is uniformly embedded and mounted inside the limiting block (1005), and a lubricating rubber pad (1007) is connected to the position, corresponding to the movable guide rail (4), of the inner wall of the limiting block (1005);
the shape of a groove at the top of the limiting block (1005) is the same as that of the movable guide rail (4), and one end of the oil delivery cotton sliver (1006) passes through the lubricating rubber pad (1007) to be contacted with air;
the camera protection mechanism (11) is connected to the bottom end of the mounting top plate (3), and the camera protection mechanism (11) comprises a placing plate (1101), a limiting placing clamp (1102), a camera protective cover (1103), a taking handle (1104), a connecting plate (1105), a soft clamp placing plate (1106), a protective cover soft clamp (1107), a magic tape (1108), a drying agent plate (1109) and a drying through hole (1110);
the bottom end of the top mounting plate (3) is connected with a placing plate (1101), the bottom end of the placing plate (1101) is uniformly and symmetrically provided with limiting placing clamps (1102), the bottom end of each limiting placing clamp (1102) is connected with a camera protective cover (1103), the center of the bottom end of each camera protective cover (1103) is connected with a taking handle (1104), two ends of the sliding seat (7) are symmetrically connected with connecting plates (1105), the bottom end of each connecting plate (1105) is provided with a soft clamp placing plate (1106), and the bottom end of each soft clamp placing plate (1106) is connected with a protective cover soft clamp (1107);
the bottom inner wall of camera protection casing (1103) is connected with drier board (1109) through magic subsides (1108), dry through-hole (1110) have evenly been seted up in the outside of drier board (1109).
2. A recognition method using the robot motion orientation recognition apparatus according to claim 1, characterized by comprising the steps of:
s1, constructing a coordinate system: shooting the initial position of the robot, selecting the initial position of the robot as an initial coordinate, and constructing a robot motion plane coordinate system;
s2, track shooting: shooting the motion track of the robot through a camera, and transmitting the shot video to an identification host;
s3, coordinate positioning: transmitting the track video of the robot motion to an identification host, substituting the track video into a robot motion plane coordinate system, and obtaining a final state coordinate vector after the robot motion;
s4, vector calculation: substituting the obtained final state coordinate vector, and calculating the offset angle and distance between the final state coordinate vector and the initial coordinate vector to obtain the motion direction and distance results of the robot;
s5, outputting the result: and deriving the orientation, distance and track results of the robot motion, and storing the data in a storage unit in the identification host.
3. The recognition method according to claim 2, wherein in step S1, the number of cameras photographing the movement of the robot is 5, and the positions of the 5 cameras are all different.
4. The recognition method according to claim 2, wherein in step S2, when capturing the trajectory of the robot motion, the same robot part as the initial capture is selected as a reference point, and the captured videos are screened.
5. The method according to claim 2, wherein in step S3, the video of the trajectory of the robot motion is substituted into the robot motion plane coordinate system to obtain a plurality of final state coordinate vectors of the robot after the motion, and the intermediate value is selected as the final value.
6. The identification method according to claim 2, wherein in step S4, the final coordinate vector and the initial coordinate vector are calculated to obtain the offset angle and the distance of the current movement of the robot.
7. The method according to claim 2, wherein in step S5, the calculated offset angle and distance of the current movement of the robot are output and displayed to the user through the display screen, and the data of the current movement of the robot are stored in the storage unit of the recognition host.
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| CN107756383A (en) * | 2017-10-27 | 2018-03-06 | 无锡凹凸自动化科技有限公司 | A kind of industrial assembly mechanical arm |
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| CN208424569U (en) * | 2018-08-06 | 2019-01-22 | 蓝思智能机器人(长沙)有限公司 | Camera positioning regulating mechanism and photographic device |
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2019
- 2019-04-11 CN CN201910287606.0A patent/CN109866255B/en not_active Expired - Fee Related
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| CN101196561A (en) * | 2007-12-26 | 2008-06-11 | 北京理工大学 | Wireless ranging omnidirectional image combined locating system |
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