CN111709337B - 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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- CN111709337B CN111709337B CN202010512580.8A CN202010512580A CN111709337B CN 111709337 B CN111709337 B CN 111709337B CN 202010512580 A CN202010512580 A CN 202010512580A CN 111709337 B CN111709337 B CN 111709337B
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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
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- 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 remote positioning and map construction device and method for a wall climbing robot, wherein the remote positioning and map construction device comprises a combined frame, a motor driving module, an identification module, a laser array, a differential RTK positioning module, horizontal bubbles, a PC (personal computer) and upper computer software; positioning the wall climbing robot by adopting a differential RTK positioning module; the robot is subjected to remote recognition and surrounding environment feature recognition through the recognition module; a motor driving module is adopted to construct a two-degree-of-freedom cradle head, and the view direction of a camera is changed in real time to match data with the robot space coordinates output by the differential RTK positioning module; and constructing an image scale by adopting a laser array, positioning the wall surface characteristics, and completing the construction process of the wall climbing robot environment map. The invention is suitable for various wall climbing robots, can be used in wall environments such as ship shells, petroleum 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 unmanned operation direction.
Description
Technical Field
The invention belongs to the field of wall robots, and relates to a remote positioning and map building device and method for a wall climbing robot.
Background
The wall climbing robot can be used for replacing manual work to finish labor-intensive operations (such as building exterior wall operations, ship cleaning, bridge maintenance and the like) in dangerous areas. The wall climbing robot is generally controlled by manual remote control, and the working efficiency is limited by experience of operators and the judging capability of naked eyes. In order to develop unmanned operation technology of the wall climbing robot, specific equipment is needed to acquire real-time positioning coordinates of the robot and environmental characteristics of the periphery of the robot so as to establish an environmental map of the robot and realize autonomous navigation function of the robot.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a remote positioning and map building device and method for a wall climbing robot, and the specific technical scheme is as follows.
The remote positioning and map building device for the wall climbing robot 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 a large motor mounting plate, wherein the differential RTK positioning module is connected with a 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 architecture 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 the identification module, the differential RTK positioning module and the driving module, including hardware connection, disconnection, data acquisition and instruction execution; the model layer is used for establishing a communication mechanism of the PC, the identification module, the differential RTK positioning module and the driving module.
Further, the composite frame further includes: the device comprises an adjustable pad, an acrylic bottom plate, a rotary bottom plate, a small motor mounting plate, a disc 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 bottom plate through adjustable cushion feet, the adjustable cushion feet lock the large motor to be mounted by nuts, the small motor mounting plate is fixed on one side of the rotating bottom plate, and the driven shaft base is fixed on the other side of the rotating bottom plate; the balancing weight is arranged on the other side of the rotary bottom plate; the disk motor mounting plates are distributed on the edge of the instrument mounting substrate in a 90-degree divided circumferential array.
Further, the driving module includes: the device 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 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 is arranged on the disc 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 arranged 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 the second direct-drive servo motor, the electromagnetic band-type brake and the electromagnetic band-type brake are positioned on the same horizontal axis.
Further, the identification module includes: a long-focus camera and 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 positioned at the same network section with the PC through the gigabit network port of the router.
Further, the laser array includes: the laser mounting base plate, the laser and the laser mounting cover plate; the laser mounting bottom plate and the laser mounting cover plate are arranged at the outer end of the laser, and the laser is arranged on the disc type direct-drive motor.
The method for remotely positioning and mapping by the wall climbing robot remote positioning and mapping 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 with the interested environmental characteristics of the wall surface;
and 9, repeating the step 8 until the positions of all the interested environmental features are obtained, and finishing the drawing of the surrounding environment map of the robot.
The beneficial effects are that:
1. the invention can provide navigation information for the wall climbing robot, which is beneficial to the development of the wall climbing robot technology to the unmanned operation direction;
2. the invention is suitable for various wall climbing robots, and can be used in wall environments such as ship shells, petroleum 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 frame diagram of the software and hardware connections of the device;
FIG. 3 is a main flow chart for use with the present apparatus;
FIG. 4 is a diagram of an upper computer software interface for use with the present apparatus;
the reference numerals in the drawings are: 1-adjustable pad foot, 2-acrylic bottom plate, 3-big motor mounting plate, 4-difference RTK positioning module, 5-horizontal bubble, 6-first direct drive servo motor, 7-rotatory bottom plate, 8-little motor mounting plate, 9-second direct drive servo motor, 10-long burnt camera, 11-short burnt camera, 12-disk motor mounting plate, 13-disk direct drive motor, 14-laser mounting plate, 15-laser, 16-laser mounting plate, 17-electromagnetism band-type brake, 18-driven axle base, 19-balancing weight, 20-instrument mounting base plate.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.
As shown in fig. 1 and 2, a wall climbing robot remote positioning and map building device includes: the system 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 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, including hardware connection, disconnection, data acquisition and instruction execution; the model layer is used for establishing a communication mechanism of the PC, the identification module, the differential RTK positioning module 4 and the driving module.
The composite frame includes: the adjustable cushion foot 1, an acrylic bottom plate 2, a large motor mounting plate 3, a rotary bottom 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 substrate 20; the large motor mounting plate 3 is connected with the acrylic bottom plate 2 through the adjustable gasket foot 1, the adjustable gasket foot 1 locks the large motor mounting plate 3 by using nuts, the small motor mounting plate 8 is fixed on one side of the rotating bottom plate 7, and the driven shaft base 18 is fixed on the other side of the rotating bottom plate 7; the balancing weight 19 is arranged on the other side of the rotary bottom plate 7; the disc motor mounting plates 12 are distributed in a 90 ° divided circumferential array over the edges 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 arranged on the disk type motor mounting plate 12 and is in communication connection with the PC through an RS 232-to-Can bus.
The instrument mounting substrate 20 is arranged between the second direct-drive servo motor 9 and the electromagnetic band-type brake 17, and the second direct-drive servo motor, the electromagnetic band-type brake and the electromagnetic band-type brake are positioned on the same horizontal axis.
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 through an RS485 bus.
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 symmetrically distributed left and right; the long-focus camera 10 and the short-focus camera 11 are positioned in the same network section with the PC through a gigabit network port of the router.
The laser array includes: a laser mounting base plate 14, a laser 15, and a laser mounting cover plate 16; the laser mounting base plate 14 and the laser mounting cover plate 16 are arranged at the outer end of the laser 15, and the laser 15 is arranged on the disc type direct-drive motor 13.
As shown in fig. 3, the method for remote positioning and mapping by the wall climbing robot remote positioning and mapping device comprises 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 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 with the interested environmental characteristics of the wall surface;
and 9, repeating the step 8 until the positions of all the interested environmental features are obtained, and finishing the drawing of the surrounding environment map of the robot.
As shown in fig. 4, the remote positioning and map building device of the wall climbing robot has an upper computer software operation interface, and the operation interface supports functions of displaying data, displaying and drawing images, switching camera view angles and the like.
Claims (6)
1. The remote positioning and map building device for the wall climbing robot comprises a combined frame, a driving module, an identification module, a laser array, a differential RTK positioning module (4), horizontal bubbles (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 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 architecture 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 the identification module, the differential RTK positioning module (4) and the driving module, wherein the behavior modes comprise hardware connection, disconnection, data acquisition and instruction execution; the model layer is used for establishing a communication mechanism of a PC, an identification module, a differential RTK positioning module (4) and a driving module;
the combined frame further comprises an adjustable cushion foot (1), an acrylic bottom plate (2), a rotary bottom 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 substrate (20), wherein the large motor mounting plate (3) is connected with the acrylic bottom plate (2) through the adjustable cushion foot (1), the adjustable cushion foot (1) locks the large motor mounting plate (3) by using nuts, the small motor mounting plate (8) is fixed on one side of the rotary bottom plate (7), and the driven shaft base (18) is fixed on the other side of the rotary bottom plate (7); the balancing weight (19) is arranged on the other side of the rotary bottom plate (7); the disk motor mounting plates (12) are distributed in a 90 degree divided circumferential array at the edge of the instrument mounting substrate (20).
2. The wall climbing robot remote positioning and mapping device according to claim 1, wherein the drive module comprises: 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 first direct-drive servo motor (6) and the second direct-drive servo motor (9) are in communication connection with a 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 arranged on the disc type motor mounting plate (12) and is in communication connection with the PC through an RS 232-to-Can bus; the electromagnetic band-type brake (17) is arranged on the driven shaft base (18).
3. The remote positioning and map building device of the wall climbing robot according to claim 2, wherein the instrument mounting substrate (20) is arranged between the second direct-drive servo motor (9) and the electromagnetic band-type brake (17) and the two are positioned on the same horizontal axis.
4. The wall climbing robot remote positioning and mapping device according to claim 1, wherein the identification module comprises: a tele 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 a bilateral symmetry mode, and the long-focus camera (10) and the short-focus camera (11) are located in the same network section with the PC through a gigabit network port of the router.
5. The wall climbing robot remote positioning and mapping device according to claim 2, wherein the laser array comprises: a laser mounting base plate (14), a laser (15) and a laser mounting cover plate (16); the laser mounting base plate (14) and the laser mounting cover plate (16) are arranged at the outer end of the laser (15), and the laser (15) is arranged on the disc type direct-drive motor (13).
6. A method of remote positioning and mapping using a wall climbing robot remote positioning and mapping device according to any one of claims 1-5, 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 work normally, and preparing a starting device;
step 2, according to the horizontal bubble (5), the height of the four adjustable cushion feet (1) is adjusted, and the device does not move after the adjustment is finished;
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 returned by the first direct-drive servo motor (6) and the second direct-drive servo motor (9), namely a holder angle, matching the holder direction with the robot coordinates, and determining the direction as the holder initial direction;
step 6, acquiring images of the robot and the peripheral wall surface by using a short-focus camera (11), and identifying interesting environmental features 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 with the interested environmental characteristics of the wall surface;
step 8, recording the output of encoders 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 environmental characteristic relative to the robot;
and 9, repeating the step 8 until the positions of all the interested environmental features are obtained, and finishing the drawing of the surrounding environment map of the robot.
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Families Citing this family (4)
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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 |
| CN112581402B (en) * | 2020-12-25 | 2022-09-16 | 广州利科科技有限公司 | Road and bridge fault automatic detection method based on machine vision technology |
| CN113721278A (en) * | 2021-08-25 | 2021-11-30 | 上海交通大学 | Positioning method and system of derusting wall-climbing robot for splicing seams of hull outer plates |
| 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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