CN111709337A - Remote positioning and map building device and method for wall-climbing robot - Google Patents
Remote positioning and map building device and method for wall-climbing robot Download PDFInfo
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- CN111709337A CN111709337A CN202010512580.8A CN202010512580A CN111709337A CN 111709337 A CN111709337 A CN 111709337A CN 202010512580 A CN202010512580 A CN 202010512580A CN 111709337 A CN111709337 A CN 111709337A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4063—Device-to-bus coupling
- G06F13/4068—Electrical coupling
- G06F13/4081—Live connection to bus, e.g. hot-plugging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2213/00—Indexing scheme relating to interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F2213/0026—PCI express
Abstract
The invention belongs to the field of wall-climbing robots, and provides a device and a method for remotely positioning and mapping a wall-climbing robot, wherein the device comprises a combined frame, a motor driving module, an identification module, a laser array, a differential RTK positioning module, a horizontal bubble, a PC (personal computer) and upper computer software; positioning the wall-climbing robot by adopting a differential RTK positioning module; the robot is remotely identified and the characteristics of the surrounding environment are identified through an identification module; a motor driving module is adopted to construct a two-degree-of-freedom holder, the view direction of a camera is changed in real time, and the robot space coordinate output by a differential RTK positioning module is subjected to data matching; and (3) constructing an image scale by adopting a laser array, positioning the wall surface characteristics, and completing the construction process of the environment map of the wall-climbing robot. The invention is suitable for various wall-climbing robots, can be used in wall surface environments such as ship shells, oil storage tanks, building outer walls and the like, can provide navigation information for the wall-climbing robots, and is beneficial to the development of the wall-climbing robot technology to the direction of unmanned operation.
Description
Technical Field
The invention belongs to the field of wall robots, and relates to a wall-climbing robot remote positioning and map building device and method.
Background
The wall-climbing robot can be used for replacing manual work to finish labor-intensive operations (such as building outer wall operations, ship cleaning, bridge maintenance and the like) in dangerous areas. The wall climbing robot is generally controlled by a manual remote control, and the working efficiency of the wall climbing robot is limited by the experience of operators and the judgment capability of naked eyes. In order to develop the unmanned operation technology of the wall-climbing robot, specific equipment is required to be used for acquiring real-time positioning coordinates of the robot and environmental characteristics around the robot so as to establish an environmental map of the robot and realize the autonomous navigation function of the robot.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a device and a method for remotely positioning a wall-climbing robot and constructing a map.
A wall climbing robot remote positioning and map building device comprises a combined frame, a driving module, an identification module, a laser array, a differential RTK positioning module, horizontal bubbles, a PC (personal computer) and upper computer software; the combined frame comprises a large motor mounting plate; the differential RTK positioning module and the horizontal bubble are fixed on the large motor mounting plate, wherein the differential RTK positioning module is connected with the PC through an RS485 bus; the driving module, the identification module and the laser array are arranged on the combined frame; the upper computer software adopts an MVC (model view controller) framework and comprises a view layer, a control layer and a model layer; the view layer is an operation interface and is used for displaying data of the identification module, the differential RTK positioning module and the driving module and receiving user input; the control layer establishes behavior modes of an identification module, a differential RTK positioning module and a driving module, and the behavior modes comprise hardware connection, disconnection, data acquisition and instruction execution; the model layer is used for establishing a communication mechanism of the PC and the recognition module, the differential RTK positioning module and the driving module.
Further, the combined frame further comprises: the device comprises an adjustable pad, an acrylic bottom plate, a rotary bottom plate, a small motor mounting plate, a disc type motor mounting plate, a driven shaft base, a balancing weight and an instrument mounting substrate; the large motor mounting plate is connected with the acrylic base plate through an adjustable foot pad, the adjustable foot pad locks the large motor to be mounted by using a nut, the small motor mounting plate is fixed on one side of the rotating base plate, and the driven shaft base is fixed on the other side of the rotating base plate; the balancing weight is arranged on the other side of the rotating bottom plate; the disc type motor mounting plates are distributed on the edge of the instrument mounting substrate in a 90-degree dividing circumferential array mode.
Further, the driving module includes: the brake comprises a first direct-drive servo motor, a second direct-drive servo motor, a disc type direct-drive motor and an electromagnetic band-type brake; the first direct-drive servo motor is arranged in the center of the large motor mounting plate, the second direct-drive servo motor is arranged on the small motor mounting plate, the first direct-drive servo motor and the second direct-drive servo motor are in communication connection with a PC (personal computer) through a motion control card and a servo motor driver, the motion control card is fixed in a PCIE (peripheral component interface express) slot of the PC, and the disk type direct-drive motor is arranged on the disk type motor mounting plate and is in communication connection with the PC through an RS 232-to-Can bus; the electromagnetic band-type brake is installed on the driven shaft base.
Furthermore, the instrument mounting substrate is arranged between the second direct-drive servo motor and the electromagnetic band-type brake and positioned on the same horizontal axis.
Further, the identification module comprises: a long focus camera, a short focus camera; the long-focus camera and the short-focus camera are fixed at the central part of the instrument mounting substrate and are distributed in bilateral symmetry, and the long-focus camera and the short-focus camera are in the same network segment with the PC through the router kilomega network port.
Further, the laser array includes: the laser installation device comprises a laser installation bottom plate, a laser and a laser installation cover plate; the laser installation bottom plate and the laser installation cover plate are installed at the outer end of the laser, and the laser is installed on the disc type direct drive motor.
A method for carrying out remote positioning and map building by a wall climbing robot remote positioning and map building device comprises the following steps:
step 4, recording the output result of the differential RTK positioning module at the moment, and solving the space coordinate of the robot relative to the device;
step 7, starting a laser, identifying laser spots on the wall surface by using a short-focus camera, and rotating a device holder to align the spots to interested wall surface environment characteristics;
and 9, repeating the step 8 until the positions of all the interesting environment features are obtained, and finishing drawing the surrounding environment map of the robot.
Has the advantages that:
1. the invention can provide navigation information for the wall-climbing robot, and is beneficial to the development of the wall-climbing robot technology to the direction of unmanned operation;
2. the invention is suitable for various wall-climbing robots and can be used in wall surface environments such as ship shells, oil storage tanks, building outer walls and the like.
Drawings
FIG. 1 is an isometric view of a three-dimensional model of the present device;
FIG. 2 is a block diagram of the hardware and software connections of the apparatus;
FIG. 3 is a principal flow chart of the use of the present apparatus;
FIG. 4 is a software interface diagram of an upper computer used by the device;
the reference numbers in the figures are: the device comprises an adjustable pad 1, a 2-acrylic bottom plate, a 3-large motor mounting plate, a 4-differential RTK positioning module, a 5-horizontal bubble, a 6-first direct-drive servo motor, a 7-rotating bottom plate, an 8-small motor mounting plate, a 9-second direct-drive servo motor, a 10-long-focus camera, an 11-short-focus camera, a 12-disc motor mounting plate, a 13-disc direct-drive motor, a 14-laser mounting bottom plate, a 15-laser, a 16-laser mounting cover plate, a 17-electromagnetic band-type brake, an 18-driven shaft base, a 19-balancing weight and a 20-instrument mounting base plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments.
As shown in fig. 1 and 2, a wall-climbing robot remote positioning and mapping apparatus includes: the device comprises a combined frame, a driving module, an identification module, a laser array, a differential RTK positioning module 4, a horizontal bubble 5, a PC (personal computer) and upper computer software; the driving module, the identification module and the laser array are arranged on the combined frame; the upper computer software adopts an MVC architecture and is divided into a view layer, a control layer and a model layer; the view layer is an operation interface and is used for displaying data of the identification module, the differential RTK positioning module 4 and the driving module and receiving user input; the control layer establishes behavior modes of the identification module, the differential RTK positioning module 4 and the driving module, and the behavior modes comprise hardware connection, disconnection, data acquisition and instruction execution; the model layer is used for establishing a communication mechanism of the PC and the recognition module, the differential RTK positioning module 4 and the driving module.
The combination frame includes: the device comprises an adjustable pad 1, an acrylic bottom plate 2, a large motor mounting plate 3, a rotating bottom plate 7, a small motor mounting plate 8, a disc type motor mounting plate 12, a driven shaft base 18, a balancing weight 19 and an instrument mounting base plate 20; the large motor mounting plate 3 is connected with the acrylic base plate 2 through the adjustable foot pad 1, the adjustable foot pad 1 locks the large motor mounting plate 3 through a nut, the small motor mounting plate 8 is fixed on one side of the rotating base plate 7, and the driven shaft base 18 is fixed on the other side of the rotating base plate 7; the balancing weight 19 is arranged at the other side of the rotating bottom plate 7; the disk motor mounting plates 12 are divided into a circumferential array at 90 degrees and distributed on the edge of the instrument mounting substrate 20.
The driving module includes: the device comprises a first direct-drive servo motor 6, a second direct-drive servo motor 9, a disc type direct-drive motor 13 and an electromagnetic band-type brake 17; the first direct-drive servo motor 6 is arranged in the center of the large motor mounting plate 3, the second direct-drive servo motor 9 is arranged on the small motor mounting plate 8, the electromagnetic band-type brake 17 is arranged on the driven shaft base 18, the first direct-drive servo motor 6 and the second direct-drive servo motor 9 are in communication connection with the PC through a motion control card and a servo motor driver, and the motion control card is fixed in a PCIE slot of the PC; the disk type direct drive motor 13 is installed on the disk type motor installation plate 12 and is in communication connection with a PC through an RS 232-Can bus.
The instrument mounting substrate 20 is mounted between the second direct-drive servo motor 9 and the electromagnetic band-type brake 17 and located on the same horizontal axis.
The differential RTK positioning module 4 and the horizontal air bubble 5 are fixed on the large motor mounting plate 3, wherein the differential RTK positioning module 4 is connected with a PC through an RS485 bus.
The identification module comprises: a long-focus camera 10, a short-focus camera 11; the long-focus camera 10 and the short-focus camera 11 are fixed at the central part of the instrument mounting substrate 20 and are distributed in bilateral symmetry; the long-focus camera 10 and the short-focus camera 11 are in the same network segment with the PC through the router gigabit network port.
The laser array includes: a laser mounting base plate 14, a laser 15 and a laser mounting cover plate 16; the laser installation bottom plate 14 and the laser installation cover plate 16 are installed at the outer end of the laser 15, and the laser 15 is installed on the disc type direct drive motor 13.
As shown in fig. 3, the method for performing remote positioning and mapping by the wall-climbing robot remote positioning and mapping device includes the following steps:
step 4, recording the output result of the differential RTK positioning module 4 at the moment, and solving the space coordinate of the robot relative to the device;
step 7, starting the laser 15, identifying laser spots on the wall surface by using the short-focus camera 11, and rotating the device holder to align the spots to the interested wall surface environment characteristics;
and 9, repeating the step 8 until the positions of all the interesting environment features are obtained, and finishing drawing the surrounding environment map of the robot.
As shown in fig. 4, the upper computer software operation interface of the wall-climbing robot remote positioning and mapping apparatus supports functions such as data display, image display and drawing, and camera view angle switching.
Claims (7)
1. A wall climbing robot remote positioning and map building device comprises a combined frame, a driving module, an identification module, a laser array, a differential RTK positioning module (4), a horizontal bubble (5), a PC (personal computer) and upper computer software; the combined frame is characterized by comprising a large motor mounting plate (3); the differential RTK positioning module (4) and the horizontal bubble (5) are fixed on the large motor mounting plate (3), wherein the differential RTK positioning module (4) is connected with a PC (personal computer) through an RS485 bus; the driving module, the identification module and the laser array are arranged on the combined frame; the upper computer software adopts an MVC (model view controller) framework and comprises a view layer, a control layer and a model layer; the view layer is an operation interface and is used for displaying data of the identification module, the differential RTK positioning module (4) and the driving module and receiving user input; the control layer establishes behavior modes of an identification module, a differential RTK positioning module (4) and a driving module, and the behavior modes comprise hardware connection, disconnection, data acquisition and instruction execution; the model layer is used for establishing a communication mechanism of the PC and the recognition module, the differential RTK positioning module (4) and the driving module.
2. The remote positioning and mapping device of the wall climbing robot according to claim 1, wherein the combined frame further comprises an adjustable pad (1), an acrylic base plate (2), a rotating base plate (7), a small motor mounting plate (8), a disc motor mounting plate (12), a driven shaft base (18), a balancing weight (19) and an instrument mounting base plate (20), the large motor mounting plate (3) and the acrylic base plate (2) are connected through the adjustable pad (1), the adjustable pad (1) locks the large motor mounting plate (3) through a nut, the small motor mounting plate (8) is fixed on one side of the rotating base plate (7), and the driven shaft base (18) is fixed on the other side of the rotating base plate (7); the balancing weight (19) is arranged on the other side of the rotating bottom plate (7); the disc type motor mounting plates (12) are distributed on the edge of the instrument mounting substrate (20) in a circumferential array divided by 90 degrees.
3. The wall-climbing robot remote positioning and mapping apparatus of claim 1, wherein the driving module comprises: the brake comprises a first direct-drive servo motor (6), a second direct-drive servo motor (9), a disc type direct-drive motor (13) and an electromagnetic band-type brake (17); the first direct-drive servo motor (6) is installed in the center of the large motor installation plate (3), the second direct-drive servo motor (9) is installed on the small motor installation plate (8), the first direct-drive servo motor (6) and the second direct-drive servo motor (9) are in communication connection with the PC through a motion control card and a servo motor driver, the motion control card is fixed in a PCIE slot of the PC, and the disc type direct-drive motor (13) is installed on the disc type motor installation plate (12) and is in communication connection with the PC through an RS 232-to-Can bus; the electromagnetic band-type brake (17) is installed on the driven shaft base (18).
4. A wall-climbing robot remote positioning and mapping apparatus as claimed in claim 3, wherein the instrument mounting base plate (20) is installed between the second direct drive servo motor (9) and the electromagnetic band-type brake (17) and the three are located on the same horizontal axis.
5. The apparatus and method for remote positioning and mapping of a wall-climbing robot as claimed in claim 1, wherein the identification module comprises: a long-focus camera (10) and a short-focus camera (11); the long-focus camera (10) and the short-focus camera (11) are fixed at the central part of the instrument mounting substrate (20) and are distributed in bilateral symmetry, and the long-focus camera (10) and the short-focus camera (11) are located in the same network segment with the PC through a router gigabit network port.
6. The wall-climbing robot remote positioning and mapping apparatus and method as claimed in claim 1, wherein the laser array comprises: the laser mounting structure comprises a laser mounting base plate (14), a laser (15) and a laser mounting cover plate (16); the laser installation base plate (14) and the laser installation cover plate (16) are installed at the outer end of the laser (15), and the laser (15) is installed on the disc type direct drive motor (13).
7. A method for remote positioning and mapping using the wall-climbing robot remote positioning and mapping apparatus according to any one of claims 1-6, comprising the steps of:
step 1, opening upper computer software, manually connecting and confirming that a combined frame, a driving module, an identification module, a laser array, a differential RTK positioning module (4), a horizontal bubble (5) and a PC (personal computer) work normally, and preparing a starting device;
step 2, according to the horizontal bubbles (5), height adjustment is carried out on the four adjustable foot pads (1), and the device does not move after being adjusted;
step 3, recognizing the direction of the robot in the image through a short-focus camera (11), and adjusting the robot to the center of the visual field by using a long-focus camera (10);
step 4, recording the output result of the differential RTK positioning module (4) at the moment, and solving the space coordinate of the robot relative to the device;
step 5, recording encoder data, namely a pan-tilt angle, returned by the first direct-drive servo motor (6) and the second direct-drive servo motor (9), matching the pan-tilt direction with the coordinates of the robot, and setting the direction as the initial direction of the pan-tilt;
step 6, acquiring images of the robot and the peripheral wall surface by using a short-focus camera (11), and identifying interesting environmental characteristics on the peripheral wall surface of the robot according to a machine vision algorithm;
step 7, starting a laser (15), identifying laser spots on the wall surface by using a short-focus camera (11), and rotating a device holder to align the spots to interested wall surface environment characteristics;
step 8, recording encoder outputs of the first direct-drive servo motor (6) and the second direct-drive servo motor (9) at the moment, and calculating the position of the wall surface environment characteristic relative to the robot;
and 9, repeating the step 8 until the positions of all the interesting environment features are obtained, and finishing drawing the surrounding environment map of the robot.
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| CN202010512580.8A CN111709337B (en) | 2020-06-08 | 2020-06-08 | Remote positioning and map building device and method for wall climbing robot |
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| CN202010512580.8A CN111709337B (en) | 2020-06-08 | 2020-06-08 | Remote positioning and map building device and method for wall climbing robot |
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| CN114428465A (en) * | 2020-09-28 | 2022-05-03 | 中国石油化工股份有限公司 | Oil field storage tank detects wall climbing robot space positioner |
| CN116929160A (en) * | 2023-07-31 | 2023-10-24 | 天津大学 | Dual-channel wide-narrow-view-field common-image-plane seeker imaging optical system |
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| CN111709337B (en) | 2023-05-12 |
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