CN111015734B - Guidance system and method for live working robot - Google Patents
Guidance system and method for live working robot Download PDFInfo
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- CN111015734B CN111015734B CN201911109825.6A CN201911109825A CN111015734B CN 111015734 B CN111015734 B CN 111015734B CN 201911109825 A CN201911109825 A CN 201911109825A CN 111015734 B CN111015734 B CN 111015734B
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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
- B25J13/00—Controls for 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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Abstract
The invention provides a guide system and a method of an electric working robot, comprising the following steps: the device comprises a mechanical arm, a control panel, a camera, an industrial personal computer and an insulating guide rod, wherein a target is arranged on the insulating guide rod; the camera is used for receiving the starting information sent by the control panel and acquiring the current image information when the insulating guide rod moves to the target position according to the starting information; the industrial personal computer is used for processing the current image information and calculating the size of the current target and the side length of the current target; comparing the size of the current target with the size of a pre-stored target to obtain a comparison result, and calculating a rotation angle according to the side length of the current target; and controlling the mechanical arm to execute corresponding operation according to the comparison result or the rotation angle until the mechanical arm reaches the target position, so that the live working robot can accurately identify the working target in a severe environment in a guiding manner.
Description
Technical Field
The invention relates to the technical field of live working robots, in particular to a guide system and a guide method of a live working robot.
Background
At present, when the live working robot is used for guidance identification, a binocular camera and a depth camera are generally adopted for acquisition. The binocular camera is used for identifying a target, and the depth camera is used for identifying the distance of a target object. According to the guidance identification method, under severe environments such as strong light or heavy fog weather, the mechanical arm cannot accurately identify the operation target, and therefore the identification rate of the live working robot is low.
Disclosure of Invention
In view of the above, the present invention provides a guidance system and a method for an electric working robot, which can make the electric working robot accurately identify a working target in a severe environment by a guidance manner.
In a first aspect, the embodiment of the invention provides a guidance system of an electric working robot, which comprises a mechanical arm, a control panel, a camera, an industrial personal computer and an insulating guidance rod, wherein a target is arranged on the insulating guidance rod;
the camera is used for receiving the starting information sent by the control panel and acquiring the current image information when the insulating guide rod moves to the target position according to the starting information;
the industrial personal computer is used for processing the current image information and calculating the size of the current target and the side length of the current target; comparing the size of the current target with the size of a pre-stored target to obtain a comparison result, and calculating a rotation angle according to the side length of the current target; and controlling the mechanical arm to execute corresponding operation according to the comparison result or the rotation angle until the mechanical arm reaches the target position.
Further, the industrial personal computer is used for carrying out binarization processing on the current image information to obtain black-and-white image information; corroding and expanding the black-and-white image information to obtain image information with noise points removed; and calculating the size of the current target and the side length of the current target according to the pixel points in the image information after the noise points are removed.
Further, the industrial personal computer is used for controlling the mechanical arm to accelerate forwards under the condition that the size of the current target is smaller than that of the prestored target;
or,
and controlling the mechanical arm to stop or retreat under the condition that the size of the current target is larger than that of the prestored target.
Further, the side length of the current target comprises a left side length of the current target and a right side length of the current target;
the industrial personal computer is used for calculating a first rotation angle under the condition that the ratio of the left length of the current target to the right length of the current target is less than 1;
or,
and calculating a second rotation angle under the condition that the ratio of the left length of the current target to the right length of the current target is greater than 1.
Further, the industrial personal computer is used for controlling the mechanical arm to rotate rightwards according to the first rotation angle;
or,
and controlling the mechanical arm to rotate leftwards according to the second rotation angle.
Furthermore, the camera includes first camera and second camera, the arm includes main mechanical arm and vice mechanical arm, be provided with vice mechanical arm and main mechanical arm on the industrial computer respectively, be provided with on the vice mechanical arm first camera, be provided with on the main mechanical arm the second camera.
Further, the robot further comprises a first tool and a second tool, wherein the first tool is arranged on the auxiliary mechanical arm, and the second tool is arranged on the main mechanical arm.
In a second aspect, an embodiment of the present invention provides a guiding method for an electric working robot, which is applied to a guiding system for an electric working robot as described above, and the method includes:
acquiring opening information, and acquiring current image information when the insulating guide rod moves to a target position according to the opening information;
processing the current image information, and calculating the size of the current target and the side length of the current target;
comparing the size of the current target with the size of a pre-stored target to obtain a comparison result, and calculating a rotation angle according to the side length of the current target;
and controlling the mechanical arm to execute corresponding operation according to the comparison result or the rotation angle until the mechanical arm reaches the target position.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the method described above when executing the computer program.
In a fourth aspect, embodiments of the invention provide a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method as described above.
The embodiment of the invention provides a guide system and a method of an electric operating robot, wherein the guide system comprises the following steps: the device comprises a mechanical arm, a control panel, a camera, an industrial personal computer and an insulating guide rod, wherein a target is arranged on the insulating guide rod; the camera is used for receiving the starting information sent by the control panel and acquiring the current image information when the insulating guide rod moves to the target position according to the starting information; the industrial personal computer is used for processing the current image information and calculating the size of the current target and the side length of the current target; comparing the size of the current target with the size of a pre-stored target to obtain a comparison result, and calculating a rotation angle according to the side length of the current target; and controlling the mechanical arm to execute corresponding operation according to the comparison result or the rotation angle until the mechanical arm reaches the target position, so that the working robot can accurately identify the working target in a severe environment in a guiding mode.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of a guidance system of an electric working robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a guidance system of an electric working robot according to an embodiment of the present invention;
fig. 3 is a schematic view of a guidance system of another electric working robot according to a second embodiment of the present invention;
4(a) -4 (c) are schematic diagrams of poses of targets provided by the second embodiment of the present invention;
5(a) -5 (c) are schematic diagrams of poses of another target provided by embodiment two of the present invention;
fig. 6 is a flowchart of a guiding method of an electric working robot according to a third embodiment of the present invention.
Icon:
1-an industrial personal computer; 21-a first tool; 22-a second tool; 3-a camera; 31-a first camera; 32-a second camera; 4-a mechanical arm; 41-auxiliary mechanical arm; 42-main mechanical arm; 5-a depth camera; 6-laser radar; 7-an insulating guide rod; 8-operator; 9-a control panel; 10-insulating bucket.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. 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.
For the understanding of the present embodiment, the following detailed description will be given of the embodiment of the present invention.
The first embodiment is as follows:
fig. 1 is a schematic view of a guidance system of an electric working robot according to an embodiment of the present invention.
Referring to fig. 1, the system comprises a mechanical arm, a control panel 9, a camera, an industrial personal computer 1 and an insulating guide rod 7, wherein a target is arranged on the insulating guide rod 7; the cameras comprise a first camera 31 and a second camera 32, and the robot arm comprises a main robot arm 42 and a sub robot arm 41. The operator moves the insulating guide rod 7 to the target position.
Referring to fig. 2, the industrial personal computer 1 is provided with a sub-robot arm 41 and a main robot arm 42, respectively, the sub-robot arm 41 is provided with a first camera 31, and the main robot arm 42 is provided with a second camera 32. The system further comprises a depth camera 5, an insulating bucket 10, a laser radar 6, a first tool 21 and a second tool 22, wherein the first tool 21 is arranged on the auxiliary mechanical arm 41, and the second tool 22 is arranged on the main mechanical arm 42.
The arm car is in place and the bucket 10 is ready. The operator 8 confirms the task, selects the module for connecting the drain line on the operation panel 9, sets the left mechanical arm as the auxiliary mechanical arm 41 and the right mechanical arm as the main mechanical arm 42 according to the module for connecting the drain line, initializes, and selects the first tool 21 and the second tool 22 for preparation. First tool 21 and second tool 22 may include, but are not limited to, wire clamps.
The industrial personal computer 1 receives the operation signal sent by the control panel 9, controls the first camera 31 and the second camera 32 respectively installed on the auxiliary mechanical arm 41 and the main mechanical arm 42, and controls the depth camera 5 to collect the scene to obtain the scene information, and extracts the features from the scene information to obtain the feature result. Fitting the characteristic result into a preset scene, giving a feasible path plan, finally confirming whether the scene is executable or not by an operator 8, if so, executing a preset action, and if not, giving up the scene and manually guiding.
In the process of manual guiding, the first camera 31 receives the opening information sent by the control panel 9, and collects the current image information when the insulating guide rod 7 is arranged in front of the first camera 31 and moves to the target position according to the opening information. In addition, the first camera 31 may also receive the startup information sent by the industrial personal computer 1, that is, the first camera 31 may be controlled by the industrial personal computer 1 or the control panel 9, and the second camera 32 may also be controlled by the industrial personal computer 1 or the control panel 9, which is not described herein again.
Because the insulating guide rod 7 is provided with the target, when the operator 8 sets the insulating guide rod 7 in front of the first camera 31, after the first camera 31 locks the insulating guide rod 7, the acquired current image information includes target information, and the current image information is sent to the industrial personal computer 1 or the control panel 9. When the control panel 9 receives the current image information, the current image information is displayed.
The operator 8 views the current image information on the control panel 9 and confirms the start of guidance. After the insulating guide rod 7 moves to the target position, the sub-robot arm 41 moves to the target position according to the guidance of the insulating guide rod 7, and the operator 8 sends guidance ending command information to the first camera 31 through the control panel 9, so that the first camera 31 unlocks the target, and stops the image acquisition. Wherein the target position may be a lower drainage wire.
After the auxiliary mechanical arm 41 reaches the target position, the target releasing command sent by the industrial personal computer 1 is received, and the target position is clamped according to the preset action, namely the lower drainage wire is clamped. The lower guidewire is then introduced into the second tool 22 of the primary arm 42 so that the primary arm 42 is engaged and clamped. At this time, the sub robot arm 41 retracts, and the main robot arm 42 waits for command information transmitted from the industrial personal computer 1.
The control panel 9 sends a start signal to the second camera 32, the second camera 32 collects current image information when the insulating guide rod 7 moves to a target position according to the start information, and when the control panel 9 receives the current image information, the current image information is displayed. The operator 8 views the current image information on the control panel 9 and confirms the start of guidance. After the insulating guide rod 7 moves to the target position, the main mechanical arm 42 moves to the target position according to the guidance of the insulating guide rod 7, and the operator 8 sends guidance ending command information to the second camera 32 through the control panel 9, so that the second camera 32 releases the target locking, and stops image acquisition. Wherein, the target position is an upper drainage wire position point. The main robot arm 42 starts the operation according to the preset operation, and after the operation is finished, the main robot arm 42 is retracted and the task is finished.
Example two:
fig. 3 is a schematic view of a guidance system of another electric working robot according to a second embodiment of the present invention.
Referring to fig. 3, the system comprises a mechanical arm 4, a control panel 9, a camera 3, an industrial personal computer 1 and an insulating guide rod 7, wherein a target is arranged on the insulating guide rod 7; the operating personnel passes through control panel 9 and communicates with industrial computer 1, and industrial computer 1 can control arm 4 and camera 3, also can control camera 3 through control panel 9. The camera 3, the industrial personal computer 1 and the mechanical arm 4 are sequentially connected, the control panel 9 is respectively connected with the industrial personal computer 1 and the camera 3, and the insulating guide rod 7 is arranged in front of the camera 3.
The camera 3 is used for receiving the opening information sent by the control panel 9 and acquiring the current image information when the insulating guide rod 7 moves to the target position according to the opening information;
here, the control panel 9 may also send the start information to the industrial personal computer 1, and the industrial personal computer 1 sends the start information to the camera 3, at this time, the operator places the insulating guide rod 7 in front of the camera 3, and the camera 3 collects current image information when the insulating guide rod 7 moves to a target position, and since the insulating guide rod 7 is provided with a target, the current image information includes target information. I.e. the tracking of the insulating guide rod 7 by the camera 3 is based on the target on the insulating guide rod 7. After acquiring the current image information, the camera 3 sends feedback information to the control panel 9.
The industrial personal computer 1 is used for processing the current image information and calculating the size of the current target and the side length of the current target; comparing the size of the current target with the size of a pre-stored target to obtain a comparison result, and calculating a rotation angle according to the side length of the current target; and controlling the mechanical arm 4 to execute corresponding operation according to the comparison result or the rotation angle until the mechanical arm 4 reaches the target position.
Specifically, the industrial personal computer 1 receives current image information sent by the camera 3, processes the current image information, calculates the size of the current target and the side length of the current target, controls the mechanical arm 4 to execute corresponding operations after the industrial personal computer 1 analyzes the size of the current target and the side length of the current target, and determines that the guidance is finished by an operator after the mechanical arm 4 reaches a target position. After the end of the guidance, the robot arm 4 performs a predetermined operation. Through the mode of artifical guide for this system is even under adverse circumstances, and arm 4 also can accurately discern the operation target, has solved hot-line work robot under independently the operation, to the unable condition of discerning the operation target of adverse circumstances, effectively improves hot-line work robot's recognition efficiency, is applicable to multiple operation scene.
The size of the pre-stored target is used as the preset distance between the camera and the target, and the preset distance may include, but is not limited to, specifically 0.2m, 0.4m, and 0.6m, where fig. 4(a) is the preset distance of 0.6m, fig. 4(b) is the preset distance of 0.4m, and fig. 4(c) is the preset distance of 0.2 m.
Comparing the size of the current target with a preset distance, if the size of the current target is larger than the preset distance, indicating that the target in the current image information acquired by the camera 3 is smaller than the pre-stored target, controlling the mechanical arm 4 to move forwards in an accelerated manner by the industrial personal computer 1 until the size of the target in the current image information is consistent with or close to that of the pre-stored target, and sending stop instruction information to the mechanical arm 4 by the industrial personal computer 1. If the distance is smaller than the preset distance, the target in the current image information acquired by the camera 3 is larger than the pre-stored target, and at the moment, the industrial personal computer 1 controls the mechanical arm 4 to stop or retreat until the size of the target in the current image information is consistent or similar to that of the pre-stored target, and the mechanical arm 4 normally follows the target.
Further, the industrial personal computer 1 is used for performing binarization processing on the current image information to obtain black-and-white image information; corroding and expanding the black-and-white image information to obtain image information with noise points removed; and calculating the size of the current target and the side length of the current target according to the pixel points in the image information after the noise points are removed.
Specifically, when the camera 3 performs shooting, the camera 3 is subjected to shading processing, thereby reducing light pollution. And carrying out binarization processing on the current image information to obtain black and white image information. The binarization process is referred to as a threshold process, in which each pixel in the current image information is set to a gray level value equal to or higher than a preset threshold value or lower, and black-and-white image information is output. In the actual processing, what threshold calculation method is used is estimated by the distribution of the histogram. Generally, the histogram has two peaks, one is a peak of a background, and the other is a peak of a target, and the application adopts a binary process of dual thresholds, i.e. extracts a part between the two thresholds, specifically referring to formula (1):
wherein g (x, y) is the gray scale value of the pixel of the processed image at (x, y), t1Is the lower limit value t of the target gray value in the binarization processing2The upper limit value when binarizing the target gray value, f (x, y) the gray value of the pixel at (x, y) of the image before processing, HIGH white, and LOW black.
From the above, the threshold value is calculated by using the maximum inter-class variance method, and the current image information is divided into a background image and a target image according to the gray characteristic of the image. When the class variance between the background image and the target image is larger, the difference between the background image and the target image is larger.
Carrying out corrosion treatment on black-white image information, wherein the corrosion treatment is that only one pixel in the field of a certain pixel is a black pixel, and the pixel is changed from white to black; expansion is that in the field of a certain pixel, as long as one pixel is a white pixel, the pixel is changed from black to white; the noise points can be removed through the corruption feeding processing, so that the image information with the noise points removed is obtained, and the original size of the image can be restored after the image information with the noise points removed is subjected to expansion processing.
Further, the industrial personal computer 1 is used for controlling the mechanical arm 4 to accelerate forwards under the condition that the size of the current target is smaller than that of the pre-stored target;
or,
and controlling the mechanical arm 4 to stop or retreat under the condition that the size of the current target is larger than that of the prestored target.
Here, the size of the current target is compared with the size of the pre-stored target, that is, the number of the pixels of the current target is compared with the number of the pixels of the pre-stored target, the area of the current target can be obtained according to the number of the pixels of the current target, the area of the pre-stored target is obtained according to the number of the pixels of the pre-stored target, and then the area of the current target is compared with the area of the pre-stored target.
Further, the side length of the current target comprises the left side length of the current target and the right side length of the current target;
the industrial personal computer 1 is used for calculating a first rotation angle under the condition that the ratio of the left length of the current target to the right length of the current target is less than 1;
or,
and calculating a second rotation angle under the condition that the ratio of the left length of the current target to the right length of the current target is greater than 1.
Further, the industrial personal computer 1 is used for controlling the mechanical arm 4 to rotate rightwards according to the first rotation angle;
or,
and controlling the mechanical arm 4 to rotate leftwards according to the second rotation angle.
Specifically, fig. 5(a) is a right turn of the target, fig. 5(b) is a front view of the target, and fig. 5(c) is a left turn of the target. If the ratio of the left length of the current target to the right length of the current target is smaller than 1, the left length of the current target is smaller than the right length of the current target, the target turns right, a first rotation angle is calculated at the moment, and the mechanical arm 4 is controlled to rotate right according to the first rotation angle; if the ratio of the left length of the current target to the right length of the current target is close to 1, the target looks upright at the moment, and the mechanical arm 4 is controlled to keep the current angle to follow; if the ratio of the left length of the current target to the right length of the current target is greater than 1, the left length of the current target is greater than the right length of the current target, the target turns left, a second rotation angle is calculated at the moment, and the mechanical arm 4 is controlled to rotate left according to the second rotation angle.
The embodiment of the invention provides a guide system of an electric operating robot, which comprises: the device comprises a mechanical arm, a control panel, a camera, an industrial personal computer and an insulating guide rod, wherein a target is arranged on the insulating guide rod; the camera is used for receiving the starting information sent by the control panel and acquiring the current image information when the insulating guide rod moves to the target position according to the starting information; the industrial personal computer is used for processing the current image information and calculating the size of the current target and the side length of the current target; comparing the size of the current target with the size of a pre-stored target to obtain a comparison result, and calculating a rotation angle according to the side length of the current target; and controlling the mechanical arm to execute corresponding operation according to the comparison result or the rotation angle until the mechanical arm reaches the target position, so that the live working robot can accurately identify the working target in a severe environment in a guiding manner.
Example three:
fig. 6 is a flowchart of a guiding method of an electric working robot according to a third embodiment of the present invention.
Referring to fig. 6, the method includes the steps of:
step S101, acquiring opening information, and acquiring current image information when the insulating guide rod moves to a target position according to the opening information;
step S102, processing the current image information, and calculating the size of the current target and the side length of the current target;
step S103, comparing the size of the current target with the size of a pre-stored target to obtain a comparison result, and calculating a rotation angle according to the side length of the current target;
and step S104, controlling the mechanical arm to execute corresponding operation according to the comparison result or the rotation angle until the mechanical arm reaches the target position.
The embodiment of the invention provides a guiding method of an electric operating robot, which comprises the following steps: acquiring opening information, and acquiring current image information when the insulating guide rod moves to a target position according to the opening information; processing the current image information, and calculating the size of the current target and the side length of the current target; comparing the size of the current target with the size of a pre-stored target to obtain a comparison result, and calculating a rotation angle according to the side length of the current target; and controlling the mechanical arm to execute corresponding operation according to the comparison result or the rotation angle until the mechanical arm reaches the target position, so that the live working robot can accurately identify the working target in a severe environment in a guiding manner.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the method for guiding the live working robot provided in the above embodiment are implemented.
Embodiments of the present invention further provide a computer readable medium having non-volatile program codes executable by a processor, where the computer readable medium has a computer program stored thereon, and the computer program is executed by the processor to perform the steps of the guidance method of the charged working robot according to the above embodiments.
The computer program product provided in the embodiment of the present invention includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, which is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The guidance system of the live working robot is characterized by comprising a mechanical arm, a control panel, a camera, a depth camera, an industrial personal computer and an insulating guide rod, wherein a target is arranged on the insulating guide rod, the insulating guide rod is held and moved by an operator, and the camera is arranged on the mechanical arm;
the industrial personal computer receives the operation signal sent by the control panel, controls the camera and the depth camera to collect the scene to obtain scene information, the operator confirms whether the scene can be executed or not, if not, the scene is abandoned, and the mechanical arm is guided manually;
the camera is used for receiving starting information sent by the control panel in the manual guiding process and acquiring current image information when the insulating guide rod moves to a target position according to the starting information;
the industrial personal computer is used for processing the current image information and calculating the size of the current target and the side length of the current target; comparing the size of the current target with the size of a pre-stored target to obtain a comparison result, and calculating a rotation angle according to the side length of the current target; and controlling the mechanical arm to execute corresponding operation according to the comparison result or the rotation angle until the mechanical arm reaches the target position.
2. The guidance system of the live working robot according to claim 1, wherein the industrial personal computer is configured to perform binarization processing on the current image information to obtain black-and-white image information; corroding and expanding the black-and-white image information to obtain image information with noise points removed; and calculating the size of the current target and the side length of the current target according to the pixel points in the image information after the noise points are removed.
3. The guidance system of the live working robot according to claim 1, wherein the industrial personal computer is configured to control the robot arm to accelerate forward if the size of the current target is smaller than the size of the prestored target;
or,
and controlling the mechanical arm to stop or retreat under the condition that the size of the current target is larger than that of the prestored target.
4. The guidance system of the live working robot according to claim 1, wherein the side length of the current target includes a left side length of the current target and a right side length of the current target;
the industrial personal computer is used for calculating a first rotation angle under the condition that the ratio of the left length of the current target to the right length of the current target is less than 1;
or,
and calculating a second rotation angle under the condition that the ratio of the left length of the current target to the right length of the current target is greater than 1.
5. The guidance system of the live working robot according to claim 4, wherein the industrial personal computer is configured to control the robot arm to rotate to the right according to the first rotation angle;
or,
and controlling the mechanical arm to rotate leftwards according to the second rotation angle.
6. The guidance system of the live working robot according to claim 1, wherein the camera includes a first camera and a second camera, the robot includes a main robot arm and a sub robot arm, the sub robot arm and the main robot arm are respectively disposed on the industrial personal computer, the first camera is disposed on the sub robot arm, and the second camera is disposed on the main robot arm.
7. The guidance system for an electrified working robot according to claim 6, further comprising a first tool provided on the sub-robot arm and a second tool provided on the main robot arm.
8. A guidance method of a live working robot, characterized by being applied to a guidance system of a live working robot according to any one of claims 1 to 7, the system including a robot arm, a control panel, a camera, a depth camera, an industrial personal computer, and an insulating guide rod, wherein a target is provided on the insulating guide rod, the insulating guide rod is held and moved by an operator, and the camera is provided on the robot arm; the method comprises the following steps:
the industrial personal computer receives the operation signal sent by the control panel, controls the camera and the depth camera to collect the scene to obtain scene information, the operator confirms whether the scene can be executed or not, if not, the scene is abandoned, and the mechanical arm is guided manually;
the camera acquires starting information sent by the control panel in the manual guiding process, and acquires current image information when the insulating guide rod moves to a target position according to the starting information;
the industrial personal computer processes the current image information and calculates the size of the current target and the side length of the current target; comparing the size of the current target with the size of a pre-stored target to obtain a comparison result, and calculating a rotation angle according to the side length of the current target; and controlling the mechanical arm to execute corresponding operation according to the comparison result or the rotation angle until the mechanical arm reaches the target position.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, wherein the processor implements the method of claim 8 when executing the computer program.
10. A computer-readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of claim 8.
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