CN111397581A - Visual positioning target and target measuring field based on infrared L ED dot matrix - Google Patents
Visual positioning target and target measuring field based on infrared L ED dot matrix Download PDFInfo
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- CN111397581A CN111397581A CN202010123386.0A CN202010123386A CN111397581A CN 111397581 A CN111397581 A CN 111397581A CN 202010123386 A CN202010123386 A CN 202010123386A CN 111397581 A CN111397581 A CN 111397581A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V29/00—Protecting lighting devices from thermal damage; Cooling or heating arrangements specially adapted for lighting devices or systems
- F21V29/50—Cooling arrangements
- F21V29/502—Cooling arrangements characterised by the adaptation for cooling of specific components
- F21V29/503—Cooling arrangements characterised by the adaptation for cooling of specific components of light sources
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V29/00—Protecting lighting devices from thermal damage; Cooling or heating arrangements specially adapted for lighting devices or systems
- F21V29/50—Cooling arrangements
- F21V29/70—Cooling arrangements characterised by passive heat-dissipating elements, e.g. heat-sinks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO THE FORM OR THE KIND OF THE LIGHT SOURCES OR OF THE COLOUR OF THE LIGHT EMITTED
- F21Y2115/00—Light-generating elements of semiconductor light sources
- F21Y2115/10—Light-emitting diodes [LED]
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- Physics & Mathematics (AREA)
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- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a visual positioning target and a target measuring field based on an infrared L ED dot matrix, which comprise a positioning target, an explosion-proof control box and a supporting upright post, wherein the supporting upright post is connected between the positioning target and the explosion-proof control box, the positioning target comprises an infrared L ED lamp source, a dot matrix panel, a laser tracker target ball seat and a heat dissipation baffle, the infrared L ED lamp source is arranged on the dot matrix panel, the heat dissipation baffle is connected with the dot matrix panel and is contacted with the infrared L ED lamp source, target ball seat mounting holes are respectively arranged on the left side surface, the right side surface, the upper top surface and the front surface of the positioning target, the laser tracker target ball seat is connected with the positioning target through the target ball seat mounting holes, the explosion-proof control box comprises a box body, a power supply module and a control button, an explosion-proof air hole is formed on the box body, the power supply module is arranged in the box body and is electrically connected with the infrared L ED lamp source, and the control button is arranged on the box body.
Description
Technical Field
The invention belongs to the technical field of robot visual positioning, and particularly relates to a visual positioning target based on an infrared L ED dot matrix and a target measuring field matched with a robot for use.
Background
With the development of computer technology and artificial intelligence, the research of robot technology gets more and more attention and investment, and the intelligent autonomous mobile robot becomes an important research direction and research hotspot in the robot field. The focus of intelligent mobile robotic research is the ability to independently accomplish a given task in an unknown, complex, and dynamic environment. The autonomous mobile robot is mainly characterized in that the autonomous mobile robot can sense and understand the external environment in real time by means of a sensor system of the autonomous mobile robot, and autonomously complete task planning and action control, and a visual positioning system is one of important means for realizing environment cognition. At present, visual positioning is mainly divided into two modes of local vision and global vision. In many complex environments, however, the use of global positioning is limited due to the presence of obstacles. Therefore, the robot needs to perform autonomous positioning and navigation in a completely unknown environment under the condition that the position of the robot is uncertain, and the current position is determined by acquiring image information of the surrounding environment by installing a sensor and an image processing system on the robot.
However, the non-contact sensor has high requirements on the environment, and how to overcome the problem of image blur under the conditions of complex background, severe illumination conditions, variable pose and much dust is one of the key technologies for improving the positioning accuracy and the real-time performance of the robot. The robot needs to collect the information of the positioning characteristics when carrying out visual positioning, can be divided into natural characteristics and artificial characteristics for the characteristics, because the natural characteristics are difficult to collect and the precision is lower, so adopt artificial characteristics to carry out visual positioning more. The existing monocular camera-based mobile robot visual positioning method is mainly two-dimension code auxiliary positioning, but the existing two-dimension code visual positioning target has the defects of extraction precision and stability. Therefore, the accuracy of robot identification and positioning is determined by the design of the visual target, and the strategy and difficulty of robot motion control are indirectly influenced. Therefore, a target capable of being accurately and quickly identified is an important premise for improving the working efficiency of the robot.
Disclosure of Invention
Therefore, the invention is different from the traditional two-dimensional code passive characteristic, provides the visual positioning target based on the infrared L ED dot matrix, adopts the infrared light source to enhance the penetrability of the characteristic, reduces the interference of the visible light source, and improves the environmental adaptability, the positioning precision and the reliability of the visual positioning target.
The invention also aims to provide a target measuring field with the visual positioning target based on the infrared L ED dot matrix.
The visual positioning target based on the infrared L ED dot matrix comprises a positioning target, an explosion-proof control box and a supporting upright column, wherein the supporting upright column is connected between the positioning target and the explosion-proof control box, the positioning target comprises an infrared L ED lamp source, a dot matrix panel, a laser tracker target ball seat and a heat dissipation baffle, the infrared L ED lamp source is arranged on the dot matrix panel, target ball seat mounting holes are respectively formed in the left side surface, the right side surface, the upper top surface and the front surface of the positioning target, the laser tracker target ball seat is arranged at each target ball seat mounting hole and is connected with the positioning target through the target ball seat mounting holes, the heat dissipation baffle is connected with the dot matrix panel and is in contact with the infrared L ED lamp source to dissipate heat, the explosion-proof control box comprises a box body, a power supply module and a control button, an explosion-proof air hole is formed in the box body to enable the explosion-proof control box to keep a positive pressure state, the power supply module is arranged in the box body and is electrically connected with the infrared L ED lamp source to supply for supplying power, and the control button is used for controlling different light signals of the ED lamp source L.
According to the visual positioning target based on the infrared L ED dot matrix, the infrared L ED lamp source is adopted, the visual positioning target can normally work under severe conditions such as darkness, dust, smoke, humidity and strong electromagnetic interference, high brightness can be provided under the condition of ensuring high service life and low energy consumption, the environmental adaptability of the visual positioning target can be improved, compared with the traditional two-dimensional code visual positioning, the positioning precision is effectively improved, the explosion-proof control box is in a positive pressure state through the explosion-proof air holes formed in the box body, the safety of the visual positioning target under dangerous environments such as multiple dust and multiple static electricity can be further improved, heat generated by the infrared L ED lamp source can be quickly dissipated through the heat dissipation baffle, and therefore the endurance and the service life of the positioning target are improved.
In some embodiments, the infrared L ED light source is a plurality of infrared L ED light sources, and the plurality of infrared L ED light sources are arranged on the dot matrix panel in a predetermined order to form a predetermined pattern.
Specifically, a plurality of infrared L ED lamp sources are arranged in a plurality of rows along the up-down direction.
Further, the explosion-proof control box is connected below the positioning target, and the infrared L ED lamp source in the lowermost row comprises a plurality of L ED lamps.
In some embodiments, the infrared L ED light source is pressed against the dot matrix panel through the heat dissipation baffle, and a heat dissipation silica gel is disposed between the heat dissipation baffle and the infrared L ED light source.
In some embodiments, the support post is a hollow member, and one side of the support post is provided with a hole slot for arranging wiring.
In some embodiments, the explosion-proof air hole comprises an air inlet hole and an air outlet hole, the air inlet hole is arranged on one side of the box body, and the air outlet hole is arranged on the other side of the box body.
In some embodiments, an observation window is provided on the box body, and the observation window can be used for observing the electric quantity condition of the power supply module.
In some embodiments, the battery module capacity is calculated to be removably secured within the housing.
In some embodiments, the explosion-proof control box further comprises a relay, the control button is connected with the relay to control the on and off of the infrared L ED lamp source, and the magnitude of the current can be adjusted to control the on and off condition of the infrared L ED lamp source.
The target measuring field according to the embodiment of the invention comprises the visual positioning target based on the infrared L ED dot matrix according to the above embodiment of the invention.
According to the target measuring field provided by the embodiment of the invention, the laser tracker target ball seats arranged on the infrared targets are utilized, the high-precision laser tracker is used for measuring the central coordinates of the target ball on each infrared L ED target, the unified coordinate transformation from each target to the measuring field can be realized, and the positioning precision of the measuring field is high.
In some embodiments, the explosion proof control box includes a universal wheel set that is switchable between locked and unlocked states.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a visual positioning target based on an infrared L ED lattice according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a target for visual localization based on an infrared L ED lattice at another viewing angle in an embodiment of the present invention;
FIG. 3 is a schematic partial structural diagram of a visual positioning target based on an infrared L ED lattice according to an embodiment of the present invention (including a positioning target and supporting pillars);
FIG. 4 is a schematic structural diagram of a localization target in an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an explosion-proof control box in an embodiment of the invention;
FIG. 6 is a schematic structural diagram of an explosion-proof control box in another view according to an embodiment of the present invention;
FIG. 7 is a circuit diagram of an infrared L ED lamp source in accordance with an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a target measurement field according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of a comparative two-dimensional code positioning target according to an embodiment of the present invention.
Reference numerals:
a target measuring field 1000,
A positioning target 1, an infrared L ED lamp source 11, a dot matrix panel 12, a heat dissipation baffle 13, a target ball seat 141, a target ball seat mounting hole 142,
An explosion-proof control box 2, a box body 21, an explosion-proof air hole 211, an air inlet 2111, an air outlet 2112, a power supply module 22, a control button 23, a universal wheel set 24,
A supporting upright post 3,
The robot 200.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "inside", "outside", "vertical", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, 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.
An infrared L ED dot matrix-based visual positioning target 100 according to an embodiment of the invention is described below with reference to FIGS. 1-7.
The visual positioning target 100 based on the infrared L ED dot matrix comprises a positioning target 1, an explosion-proof control box 2 and supporting columns 3, wherein the supporting columns 3 are connected between the positioning target 1 and the explosion-proof control box 2, the positioning target 1 comprises an infrared L ED lamp source 11, a dot matrix panel 12, a heat dissipation baffle 13 and a laser tracker target ball seat 141, the infrared L ED lamp source 11 is arranged on the dot matrix panel 12, the heat dissipation baffle 13 is connected with the dot matrix panel 12 and is in contact with the infrared L ED lamp source 11 to dissipate heat, the left side, the right side, the upper top and the front of the positioning target 1 are respectively provided with a target ball seat mounting hole 142, each target ball seat mounting hole 142 is provided with a laser tracker target ball seat 141, the laser tracker target seat 141 is connected with the positioning target 1 through the target ball seat mounting holes 142, the explosion-proof control box 2 comprises a box body 21, a power module 22 and a control button 23, the explosion-proof air holes 211 are formed in the box body 21 to enable the explosion-proof control box 2 to be in a state, the power supply module 22 is electrically connected with the infrared light source mounting buttons 3623 to be used for controlling infrared ED lamp source 23, and the infrared light source to form different light emitting signals.
It can be appreciated that the visual localization target 100 based on the infrared L ED lattice has various advantages over the general localization target 1:
(1) the positioning accuracy is high, in the traditional two-dimensional code visual positioning mode, the characteristic points acquired by positioning are the corner points formed by the junctions of black and white squares, and the extraction accuracy and stability of the corner points are poor compared with the characteristics of the circle center of the infrared L ED lamp source 11.
(2) The two-dimensional code target is positioned by an external visible light source, works by a passive light source, is easily interfered by other visible light sources due to reflected light of other light sources, has poor visual positioning precision and poor anti-interference performance when being more than 5 meters away from the mobile robot, can normally work under the severe conditions of darkness, dust, smog, humidity, strong electromagnetic interference and the like by adopting the active infrared L ED light source 11, and can provide high brightness under the conditions of ensuring high service life and low energy consumption.
(3) Specifically, the control button 23 can control the on and off of the infrared L ED light source 11 to provide the coded information of the target, and the robot can acquire the ideal image information according to the requirement.
(4) In addition, the heat dissipation baffle 13 can quickly dissipate the heat generated by the infrared L ED lamp source 11, thereby improving the cruising ability and the service life of the positioning target 1.
(5) Simple structure, easy installation and low cost. Here, the visual positioning target 100 improves positioning accuracy and flexibility while taking into account the cost of manufacturing and installation.
(6) The L ED infrared dot matrix visual target can provide self-positioning and adjusting reference for the robot, and is convenient for subsequent motion control, in addition, the visual positioning target 100 is not limited to be used for visual identification and positioning in the robot processing process, and can be arranged at the parts which are easy to collide, such as robot joints, and the like according to requirements, so as to realize the obstacle avoidance and collision avoidance functions of the robot.
According to the visual positioning target 100 based on the infrared L ED dot matrix, by adopting the infrared L ED lamp source 11, the visual positioning target 100 can normally work under severe conditions such as darkness, dust, smoke, humidity, strong electromagnetic interference and the like, high brightness can be provided under the condition of ensuring high service life and low energy consumption, and the environmental adaptability of the visual positioning target 100 can be improved.
In some embodiments, as shown in fig. 1 and 3, a plurality of infrared L ED light sources 11 are provided, and a plurality of infrared L ED light sources 11 are arranged on the dot matrix panel 12 according to a predetermined sequence to form a predetermined pattern, so that the types of the patterns formed on the dot matrix panel 12 can be improved, and a robot or the like can collect an ideal pattern, thereby improving the positioning reliability of the visual positioning target 100.
Specifically, as shown in FIGS. 1 and 3, a plurality of infrared L ED light sources 11 are arranged in a plurality of rows in an up-down direction, which facilitates manufacturing, assembly, and control of the control buttons 23.
Further, the positioning of the target 1 requires calibration of the central coordinates of the L ED light source 11 on the target 1 and the central coordinates of the target ball 141 of the laser tracker by using a high-precision three-coordinate measuring machine.
Further, as shown in fig. 1, the explosion-proof control box 2 is connected below the positioning targets 1, and the infrared L ED light source 11 in the bottom row comprises a plurality of L ED lights, so that different dot patterns can be formed by the plurality of L ED lights to achieve a good positioning state, the visual positioning targets 1 can be coded according to the turn-on and turn-off sequence and number of different L ED light beads, and each positioning target 1 is numbered and identified.
Optionally, the number and layout form of L ED lamp arrays in the visual positioning target in the present invention are continuously adjusted according to the change of system parameters such as positioning distance, pose solving accuracy and speed in a specific working environment, that is, the specific parameters are designed according to the change of the use conditions, and the layout of the lamp arrays is changed by controlling the on and off of different L ED lamps.
Optionally, the L ED lamp arrays in the visual positioning target adopt a non-coplanar three-dimensional layout design, and the L ED lamp arrays in each adjacent row are located on different planes, but the front view of the target is guaranteed to be a central symmetric graph, so that the solving accuracy and the solving robustness are improved, and the size and the groove depth (the normal spacing of the located plane) of the L ED lamp array in each adjacent row are correspondingly adjusted according to the range of the positioning distance, the light-emitting angle of the L ED lamp and other characteristics.
Alternatively, as shown in FIG. 7, a plurality of L ED lamps are connected in series to form an infrared L ED lamp source 11, and a plurality of infrared L ED lamp sources 11 are connected in parallel, so as to facilitate control and detection of the infrared L ED lamp source 11 and to form a plurality of dot patterns.
Optionally, the control buttons 23 comprise an emergency stop button, a start stop button, a coding button and an L ED lamp control button 23, the explosion-proof control box 2 further comprises a circuit breaker and an alarm indicator lamp, and the functions of all the components are shown in the table.
| Component and device | Function(s) |
| Circuit breaker | Protection control loop |
| Emergency stop button | Manual emergency stop machine in emergency |
| Start stop button | Controlling L ED lamp on/off |
| L ED |
Switching different dot matrix patterns and arrangement layout |
| |
2 air pressure alarm indication of explosion-proof control box |
| Coding button | The target is coded manually, so that the robot can conveniently recognize |
In some embodiments, the infrared L ED lamp source 11 is pressed against the dot matrix panel 12 through the heat dissipation baffle 13, and heat dissipation silica gel is arranged between the heat dissipation baffle 13 and the infrared L ED lamp source 11, so that the infrared L ED lamp source 11 can be conveniently installed and replaced, for example, when the infrared L ED lamp source 11 on the positioning target 1 fails, the replacement can be conveniently performed.
In some embodiments, as shown in fig. 2, the support post 3 is a hollow member, and one side of the support post 3 is provided with a hole slot for arranging wiring. It can be understood that the support column 3 is provided as a central control, which not only facilitates the design of the hole slot, but also saves materials, so that the visual positioning target 100 is light in weight. In addition, the arrangement of the hole and the groove can be used for arranging and wiring, which is beneficial to wiring management and further improves the safety of the visual positioning target 100.
In some embodiments, as shown in fig. 1 and 2, the explosion-proof vent 211 includes an inlet 2111 and an outlet 2112, the inlet 2111 is disposed on one side of the box body 21, and the outlet 2112 is disposed on the other side of the box body 21. This is favorable to the quick air inlet, the play of gas of box 21 for explosion-proof control box 2 keeps the malleation state steadily, improves the reliability of vision positioning target 100.
In some embodiments, the box 21 is provided with an observation window, and the observation window can be used to observe the power condition of the power module 22, and the power of the battery is specifically calculated. Thus, the electric quantity condition is detected in real time, and the working efficiency of the visual positioning target 100 is improved.
In some embodiments, the battery module 22 is removably secured within the case 21. This facilitates replacement and inspection of the battery module 22.
Alternatively, the battery module 22 may be fixed at the bottom of the explosion-proof control box 2 through a clamping groove. The design has low requirement on operators, and the quick-change function can be realized.
Alternatively, the integral attachment of the visual positioning target 100 may use a threaded connection. Thus facilitating disassembly and assembly operations.
In some embodiments, the explosion-proof control box 2 further comprises a relay, and the control button 23 is connected to the relay to control the on/off of the infrared L ED light source 11, and the magnitude of the current can be adjusted to control the on/off of the infrared L ED light source 11, so that different dot patterns can be selected by the control button 23, and the overall brightness of the dot patterns can be changed to achieve the optimal positioning state.
The following describes an infrared L ED lattice-based visual positioning target 100 in one embodiment of the present invention with reference to the accompanying drawings.
The visual positioning target 100 based on the infrared L ED dot matrix comprises a positioning target 1, an explosion-proof control box 2 and a support upright 3, wherein the support upright 3 is connected between the positioning target 1 and the explosion-proof control box 2.
The positioning target 1 comprises an infrared L ED lamp source 11, a dot matrix panel 12, a heat dissipation baffle 13 and target ball seats 141, the infrared L ED lamp source 11 is tightly pressed on the dot matrix panel 12 through the heat dissipation baffle 13, heat dissipation silica gel is arranged between the heat dissipation baffle 13 and the infrared L ED lamp source 11, target ball seat mounting holes 142 are respectively formed in the left side surface, the right side surface, the upper top surface and the front surface of the positioning target 1, a plurality of infrared L ED lamp sources 11 are arranged on the plurality of infrared L ED lamp sources 11, a plurality of lines of infrared L ED lamp sources are distributed in the up-down direction, an explosion-proof control box 2 is connected below the positioning target 1, and a plurality of infrared L ED lamp sources 11 are arranged on the infrared L ED lamp source 11 in the line at the bottom, and a three-coordinate measuring machine can be used for calibrating the central coordinates of the L ED lamp source 11 on the positioning target 1 and the laser tracking ball coordinates 141.
The supporting upright post 3 is a hollow piece, and one side of the supporting upright post 3 is provided with a hole slot for arranging and wiring.
The explosion-proof control box 2 comprises a box body 21, a power supply module 22, a control button 23 and a relay, wherein an explosion-proof air hole 211 is formed in the box body 21 to enable the explosion-proof control box 2 to keep a positive pressure state, the explosion-proof air hole 211 comprises an air inlet hole 2111 and an air outlet hole 2112, the air inlet hole 2111 is arranged on one side of the box body 21, the air outlet hole 2112 is arranged on the other side of the box body 21, the capacity of the battery module 22 is calculated and is detachably fixed in the box body 21 and electrically connected with an infrared L ED lamp source 11 to supply power, the control button 23 is connected with the relay to control the on and off of the infrared L ED lamp source 11, the current can be adjusted to control the on and off conditions of the infrared L ED lamp source 11 to form different coded signals, and an observation window is arranged on the box.
The target measurement field 1000 in the embodiment of the present invention is described below with reference to the drawings.
A target measurement field 1000 according to an embodiment of the present invention, as shown in fig. 8, includes an infrared L ED lattice-based visual positioning target 100 according to the above-described embodiment of the present invention.
According to the target measuring field 1000 of the embodiment of the invention, the infrared L ED lamp source 11 is adopted, the normal work can be realized under the severe conditions of darkness, dust, smoke, humidity, strong electromagnetic interference and the like, the high brightness can be provided under the condition of ensuring high service life and low energy consumption, and the environmental adaptability of the visual positioning target 100 can be improved.
In some embodiments, as shown in fig. 6 and 7, the explosion proof control box 2 includes a universal wheel set 24, the universal wheel set 24 being switchable between locked and unlocked states. Thus, the universal wheel set 24 can realize multi-directional target layout, and reduce the possibility of collision during the movement of the robot 200 while improving the system precision and the positioning speed.
Alternatively, taking the painting robot 200 as an example, as shown in fig. 8, four visual positioning targets 100 are arranged diagonally, and certainly, in some other embodiments, the layout and number of the visual positioning targets 100 are not limited thereto, in the actual use process, a measurement field may be formed by spatial layout of a plurality of targets, the robot may achieve complete positioning in the measurement field, and may also be used in cooperation with a single positioning target 1 to achieve basic positioning, the four visual positioning targets 100 are still arranged diagonally, when the robot 200 performs painting, the four visual positioning targets 100 are moved to appropriate positions, respectively, the universal wheel set 24 is switched to lock, after confirming that the positions are correct, the electric quantity condition of the battery module 22 is checked through the observation window, whether the battery module 22 needs to be replaced or not is judged according to the processing duration, after confirming that requirements are met, the internal air pressure of the control box is adjusted through the explosion-proof air vent 211, the internal air pressure of the explosion-proof control box 2 is adjusted to a positive pressure state, safety of the targets under severe environment working is ensured, the targets are operated, the size of the internal air pressure of the control box 2 is adjusted appropriately, the infrared coding information of the dot matrix is adjusted, and the dot matrix information acquisition of the dot matrix patterns is adjusted, and the dot matrix patterns are adjusted to be adjusted according to the brightness of the infrared coding information acquired by a different thermal information acquisition order of the dot matrix coding information acquisition process, so that the dot matrix information acquisition is ensured.
Other configurations, such as fields, etc., and operations upon which the target measurement field 1000 according to embodiments of the present invention is based are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (12)
1. A visual positioning target based on an infrared L ED dot matrix is characterized by comprising a positioning target, an explosion-proof control box and a supporting upright post, wherein the supporting upright post is connected between the positioning target and the explosion-proof control box;
the positioning target comprises an infrared L ED lamp source, a dot matrix panel, a laser tracker target ball seat and a heat dissipation baffle, wherein the infrared L ED lamp source is arranged on the dot matrix panel, target ball seat mounting holes are respectively formed in the left side surface, the right side surface, the upper top surface and the front surface of the positioning target, the laser tracker target ball seat is arranged at each target ball seat mounting hole, the laser tracker target ball seat is connected with the positioning target through the target ball seat mounting holes, and the heat dissipation baffle is connected with the dot matrix panel and is in contact with the infrared L ED lamp source to dissipate heat;
explosion-proof control box includes box, power module and control button, be formed with explosion-proof gas pocket on the box so that explosion-proof control box keeps the malleation state, power module establishes in the box and with infrared L ED lamp source electricity is connected with the power supply, control button locates on the box in order to be used for control the bright of infrared L ED lamp source goes out to constitute different coded signal.
2. The infrared L ED dot matrix-based visual positioning target of claim 1, wherein the infrared L ED light sources are multiple, and the multiple infrared L ED light sources are arranged on the dot matrix panel in a set order to form a set pattern.
3. The infrared L ED dot matrix-based visual positioning target of claim 2, wherein the infrared L ED light sources are arranged in multiple rows in a vertical direction.
4. The infrared L ED dot matrix-based visual positioning target of claim 3, wherein the explosion-proof control box is connected below the positioning target, and the infrared L ED lamp source in the bottom row comprises a plurality of L ED lamps.
5. The infrared L ED dot matrix-based visual positioning target of claim 1, wherein the infrared L ED lamp source is pressed against the dot matrix panel by the heat dissipation baffle, and heat dissipation silica gel is disposed between the heat dissipation baffle and the infrared L ED lamp source.
6. The infrared L ED dot matrix-based visual positioning target of claim 1, wherein the supporting posts are hollow pieces with holes and slots on one side for wiring arrangement.
7. The visual positioning target based on the infrared L ED dot matrix of claim 1, wherein the explosion-proof air holes comprise an air inlet hole and an air outlet hole, the air inlet hole is formed on one side of the box body, and the air outlet hole is formed on the other side of the box body.
8. The visual positioning target based on the infrared L ED dot matrix of claim 1, wherein the box body is provided with a viewing window, and the viewing window can be used for observing the power condition of the power module.
9. The infrared L ED dot matrix-based visual positioning target of claim 1, wherein the battery module capacity is calculated and removably secured within the housing.
10. The infrared L ED dot matrix-based visual positioning target of claim 1, wherein the explosion-proof control box further comprises a relay, the control button is connected with the relay to control the on/off of the infrared L ED light source, and the current can be adjusted to control the on/off of the infrared L ED light source.
11. A target measurement field, comprising a visual positioning target based on infrared L ED lattice according to any of claims 1-10, wherein the target is used with the laser tracker target ball holder during target measurement.
12. A target measurement field according to claim 11, wherein the explosion-proof control box comprises a set of universal wheels, the set of universal wheels being switchable between locked and unlocked states.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010123386.0A CN111397581B (en) | 2020-02-27 | 2020-02-27 | Visual positioning target and target measuring field based on infrared LED dot matrix |
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| CN117704967A (en) * | 2024-02-05 | 2024-03-15 | 中铁西南科学研究院有限公司 | Machine vision-based blast hole position dynamic measurement method, target and measurement system |
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