CN110261842B - Detection laser installation position adjusting method and device suitable for robot - Google Patents
Detection laser installation position adjusting method and device suitable for robot Download PDFInfo
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- CN110261842B CN110261842B CN201910609040.9A CN201910609040A CN110261842B CN 110261842 B CN110261842 B CN 110261842B CN 201910609040 A CN201910609040 A CN 201910609040A CN 110261842 B CN110261842 B CN 110261842B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The embodiment of the invention discloses a detection laser installation position adjusting method and a device suitable for a robot, wherein the method comprises the following steps: the method comprises the steps of acquiring a laser line formed by a detection laser group on a measuring device on the basis of a laser band camera on a robot, determining whether the detection laser group is inclined or not according to the position relation between the laser line and a standard horizontal line preset on the measuring device, and outputting inclination prompt information indicating the inclination direction when the inclination is determined. By adopting the invention, the laser position arranged on the robot can be adjusted, so that the laser positions are consistent in height within a visual range.
Description
Technical Field
The invention relates to the technical field of robot laser installation, in particular to a detection laser installation position adjusting method and device suitable for a robot.
Background
A single-line laser is mostly used in the existing robot, and a level meter is used for judging whether laser installation is horizontal or not during installation. Because the laser can only detect the distance and can not identify the height, whether the laser installation level relates to the height of the barriers at the front and the two sides which can be seen by the laser is consistent when the machine is positioned and scanned in a walking way, if the heights of the barriers at the front and the two sides which can be seen by the laser are different, the barriers at the left side can be seen when the barriers are similar to the height of the laser, but the barriers at the left side can not be seen when the machine is turned to the right side. The laser can be measured by a level gauge to determine whether the laser is installed horizontally, but the laser has a certain inclination, and the installation level does not necessarily represent that the heights of the laser in all visible ranges are consistent.
Disclosure of Invention
The embodiment of the invention provides a detection laser installation position adjusting method and device suitable for a robot, which can adjust the laser position installed on the robot to enable the laser position to be consistent in height seen in a visible range.
The first aspect of the embodiments of the present invention provides a method for adjusting a detection laser installation position suitable for a robot, which may include:
acquiring a laser line formed by a detection laser group on the robot on a measuring device based on a laser band camera;
determining whether the detection laser group is installed obliquely or not according to the position relation between the laser line and a preset standard horizontal line on the measuring device;
when the installation tilt is determined, tilt indication information indicating a tilt direction is output.
Further, the method further comprises:
and when the laser line is higher than the installation height of the detection laser group, determining the front and back installation inclination of the detection laser group.
Further, the method further comprises:
and when the laser line is not consistent with the standard horizontal line, determining the left and right installation inclination of the detection laser group.
Further, the inclination adjustment prompt message further includes adjustment data for adjusting the detection laser group.
Further, the method further comprises:
and calculating the adjustment parameters in the inclination adjustment prompt information according to the position relation.
A second aspect of an embodiment of the present invention provides a device for adjusting a detection laser installation position of a robot, including:
the laser line acquisition module is used for acquiring a laser line formed by a detection laser group on the measuring device on the robot based on a laser band camera;
the inclination judgment module is used for determining whether the detection laser group is installed and inclined according to the position relation between the laser line and a standard horizontal line preset on the measuring device;
and the prompt information output module is used for outputting inclination prompt information indicating the inclination direction when the installation inclination is determined.
Further, the above apparatus further comprises:
and the front-back inclination determining module is used for determining the front-back installation inclination of the detection laser group when the laser line is higher than the installation height of the detection laser group.
Further, the above apparatus further comprises:
and the left-right inclination determining module is used for determining the left-right installation inclination of the detection laser group when the laser line is inconsistent with the standard horizontal line.
Further, the inclination adjustment prompt message further includes adjustment data for adjusting the detection laser group.
Further, the above apparatus further comprises:
and the adjusting parameter calculating module is used for calculating the adjusting parameters in the inclination adjusting prompt message according to the position relation.
In the embodiment of the invention, a laser line formed by a detection laser group on a measuring device on a robot is obtained based on a laser band camera, whether the detection laser group is inclined or not is determined according to the position relation between the laser line and a preset standard horizontal line on the measuring device, and when the inclination is determined, inclination prompt information indicating the inclination direction is output. The laser lines are acquired through the special camera and compared with the standard lines to determine whether the laser lines incline or not, prompt information indicating the inclination direction is output, so that an operator can adjust the laser lines by himself, and finally the height of all the adjusted laser lines in a visible range is consistent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for adjusting a mounting position of a detection laser applied to a robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a test profile provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a detection laser mounting position adjusting apparatus suitable for a robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," and the like in the description and in the claims, and in the above-described drawings, are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or apparatus that comprises a list of steps or elements is not limited to those listed but may alternatively include other steps or elements not listed or inherent to such process, method, product, or apparatus.
The device for adjusting the installation position of the detection laser applicable to the robot according to the embodiment of the present invention may be a robot itself having data acquisition and analysis processing capabilities.
In an embodiment of the present invention, as shown in fig. 1, the method for adjusting the installation position of the detection laser applied to the robot may include at least the following steps:
and S101, acquiring a laser line formed by a detection laser group on the measuring device on the robot based on a laser band camera.
It should be noted that the measuring device may be a wall or a vertically disposed plate as shown in fig. 2, and a plurality of standard horizontal lines are pre-drawn on the device. It can be understood that when the detection laser on the robot identifies the surrounding object, the emitted laser is invisible to human eyes, and the position adjusting device needs to acquire the laser line formed on the measuring device by the detection laser group on the robot through a special camera, for example, a laser band camera.
And S102, determining whether the detection laser group is installed obliquely or not according to the position relation between the laser line and a preset standard horizontal line on the measuring device.
Specifically, the position adjusting device may determine whether the detection laser group is tilted in installation according to a positional relationship between the laser line and a standard horizontal line preset on the measuring device, for example, when the laser line is not consistent with the standard horizontal line, it may be determined that the detection laser group is tilted in installation left and right. Optionally, when the laser line is higher than the installation height of the detection laser group, the front-back installation inclination of the detection laser group can be determined.
S103, when the installation inclination is determined, inclination prompting information indicating the inclination direction is output.
Specifically, when the installation inclination is determined, the installation adjustment device may output inclination prompt information indicating the inclination direction, optionally, the prompt information may further include adjustment data for adjusting the detection laser group, and preferably, the installation adjustment device may calculate an adjustment parameter in the inclination adjustment prompt information according to the above positional relationship, where the adjustment parameter may be an adjustment angle parameter or an adjustment distance parameter, and the like.
In a concrete implementation of this application, the robot is placed at measuring tool the place ahead certain distance, and the laser wave band camera can discern the position of current laser line on measuring tool, and further, position adjusting device can acquire the difference between different positions and the last standard water flat line of measuring tool about above-mentioned laser line, and then calculates the difference angle under current position and the horizontal condition, then calculates different difference values according to the angle of difference, and then feeds back out laser skew angle under the three-dimensional state.
In the embodiment of the invention, a laser line formed by a detection laser group on a measuring device on a robot is obtained based on a laser band camera, whether the detection laser group is inclined or not is determined according to the position relation between the laser line and a preset standard horizontal line on the measuring device, and when the inclination is determined, inclination prompt information indicating the inclination direction is output. The laser lines are acquired through the special camera and compared with the standard lines to determine whether the laser lines incline or not, prompt information indicating the inclination direction is output, so that an operator can adjust the laser lines by himself, and finally the height of all the adjusted laser lines in a visible range is consistent.
An embodiment of the present invention further provides a computer storage medium, where the computer storage medium may store a plurality of instructions, where the instructions are suitable for being loaded by a processor and executing the method steps in the embodiments shown in fig. 1 and fig. 2, and a specific execution process may refer to specific descriptions of the embodiments shown in fig. 1 and fig. 2, which are not described herein again.
The following describes in detail a detection laser mounting position adjustment device suitable for a robot according to an embodiment of the present invention with reference to fig. 3. It should be noted that the position adjustment apparatus shown in fig. 3 is used for executing the method of the embodiment shown in fig. 1 and fig. 2 of the present invention, and for convenience of description, only the portion related to the embodiment of the present invention is shown, and details of the specific technology are not disclosed, please refer to the embodiment shown in fig. 1 and fig. 2 of the present invention.
Fig. 3 is a schematic structural diagram of a detection laser installation position adjustment device suitable for a robot according to an embodiment of the present invention, where the position adjustment device 10 may include: the laser line acquisition module 101, the inclination judgment module 102, the prompt information output module 103, the front-back inclination determination module 104, the left-right inclination determination module 105, and the adjustment parameter calculation module 106.
And the laser line acquisition module 101 is used for acquiring a laser line formed by the detection laser group on the measuring device on the robot based on the laser waveband camera.
It should be noted that the measuring device may be a wall or a vertically disposed plate as shown in fig. 2, and a plurality of standard horizontal lines are pre-drawn on the device. It can be understood that, when the detection laser on the robot identifies the surrounding object, the emitted laser is invisible to human eyes, and the laser line acquisition module 101 needs to acquire the laser line formed on the measuring device by the detection laser group on the robot through a special camera, for example, a laser band camera.
And the inclination judging module 102 is configured to determine whether the detection laser group is inclined according to a position relationship between the laser line and a standard horizontal line preset on the measuring device.
In a specific implementation, the inclination determination module 102 may determine whether the detection laser group is inclined according to a position relationship between the laser line and a standard horizontal line preset on the measurement device, for example, when the laser line is not consistent with the standard horizontal line, the left-right inclination determination module 105 may determine that the detection laser group is inclined left-right. Alternatively, the front-to-back tilt determination module 104 may determine the front-to-back mounting tilt of the detection laser group when the laser line is higher than the mounting height of the detection laser group.
And a prompt information output module 103 for outputting inclination prompt information indicating an inclination direction when the installation inclination is determined.
In a specific implementation, when the installation tilt is determined, the prompt information output module 103 may output tilt prompt information indicating the tilt direction, optionally, the prompt information may further include adjustment data for adjusting the detection laser group, and preferably, the adjustment parameter calculation module 106 may calculate an adjustment parameter in the tilt adjustment prompt information according to the above-mentioned positional relationship, where the adjustment parameter may be an adjustment angle parameter or an adjustment distance parameter, and the like.
In the embodiment of the invention, a laser line formed by a detection laser group on a measuring device on a robot is obtained based on a laser band camera, whether the detection laser group is inclined or not is determined according to the position relation between the laser line and a preset standard horizontal line on the measuring device, and when the inclination is determined, inclination prompt information indicating the inclination direction is output. The laser lines are acquired through the special camera and compared with the standard lines to determine whether the laser lines incline or not, prompt information indicating the inclination direction is output, so that an operator can adjust the laser lines by himself, and finally the height of all the adjusted laser lines in a visible range is consistent.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (4)
1. A detection laser mounting position adjusting method suitable for a robot is characterized by comprising the following steps:
acquiring a laser line formed by a detection laser group on the robot on a measuring device based on a laser band camera;
determining whether the detection laser group is installed obliquely or not according to the position relation between the laser line and a preset standard horizontal line on the measuring device;
when the laser line is inconsistent with the standard horizontal line, determining that the detection laser group is installed obliquely left and right;
when the installation inclination is determined, outputting inclination prompt information indicating the inclination direction, wherein the inclination prompt information further comprises adjustment data for adjusting the detection laser group;
and calculating an adjusting parameter in the inclination prompt message according to the position relation.
2. The method of claim 1, further comprising:
and when the laser line is higher than the installation height of the detection laser group, determining the front and back installation inclination of the detection laser group.
3. A detection laser mounting position adjusting device suitable for a robot, comprising:
the laser line acquisition module is used for acquiring a laser line formed by a detection laser group on the measuring device on the robot based on a laser band camera;
the inclination judgment module is used for determining whether the detection laser group is inclined or not according to the position relation between the laser line and a standard horizontal line preset on the measuring device;
the left-right inclination determining module is used for determining left-right installation inclination of the detection laser group when the laser line is inconsistent with the standard horizontal line;
the prompt information output module is used for outputting inclination prompt information indicating the inclination direction when the installation inclination is determined, and the inclination prompt information also comprises adjustment data for adjusting the detection laser group;
and the adjusting parameter calculating module is used for calculating the adjusting parameters in the inclination prompt information according to the position relation.
4. The apparatus of claim 3, further comprising:
and the front-back inclination determining module is used for determining the front-back installation inclination of the detection laser group when the laser line is higher than the installation height of the detection laser group.
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| CN201910609040.9A CN110261842B (en) | 2019-07-08 | 2019-07-08 | Detection laser installation position adjusting method and device suitable for robot |
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| CN201910609040.9A CN110261842B (en) | 2019-07-08 | 2019-07-08 | Detection laser installation position adjusting method and device suitable for robot |
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| CN110261842B true CN110261842B (en) | 2021-09-14 |
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| CN115273547B (en) * | 2022-07-26 | 2023-07-21 | 上海工物高技术产业发展有限公司 | Road anticollision early warning system |
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