CN111739092A - Hanging basket, detection robot, detection control system and detection method - Google Patents
Hanging basket, detection robot, detection control system and detection method Download PDFInfo
- Publication number
- CN111739092A CN111739092A CN202010535598.XA CN202010535598A CN111739092A CN 111739092 A CN111739092 A CN 111739092A CN 202010535598 A CN202010535598 A CN 202010535598A CN 111739092 A CN111739092 A CN 111739092A
- Authority
- CN
- China
- Prior art keywords
- spraying device
- frame
- suction cup
- angle adjusting
- adjusting shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
- G01N15/08—Investigating permeability, pore-volume, or surface area of porous materials
- G01N15/082—Investigating permeability by forcing a fluid through a sample
Abstract
The embodiment of the invention provides a hanging basket, a detection robot, a detection control system and a detection method, wherein the hanging basket comprises the following components: the spraying device comprises a first suspension body, and a spraying device and a camera which are positioned on the first suspension body, wherein the camera is fixed on the spraying device, and is configured to shoot images of a sprayed object; the spraying control device is configured to acquire a compensation value according to the image shot during operation, the image shot during calibration before operation and the calibration distance, and move the spraying device from the current operation position to the compensation position according to the compensation value. The embodiment of the invention provides a hanging basket, a detection robot, a detection control system and a detection method, which are used for improving the positioning accuracy of a spraying device and improving the reliability of a spraying detection result.
Description
Technical Field
The invention relates to the robot technology, in particular to a hanging basket, a detection robot, a detection control system and a detection method.
Background
At present, the water tightness of the outer window is not detected by relevant professional equipment in a spraying mode, most of the outer window is tested by manually standing on a high-altitude hanging basket to drag a water pipe to spray the outer window, and a small number of existing relevant spraying devices on the market can only be tested by simple spraying suspension mechanisms and simple and rough spraying tests.
The manual operation mode has low safety and low efficiency, and the water pressure and the uniformity of coverage of the area to be detected are difficult to ensure in each spraying detection process by considering the subjective factors of manual operation. The existing simple spraying mechanism has the problem that the movement distance error in control exists when a steel wire rope pulling a spraying device hanging basket descends or ascends. Therefore, the existing spray detection mode greatly influences the reliability of the detection result.
Disclosure of Invention
The embodiment of the invention provides a hanging basket, a detection robot, a detection control system and a detection method, which are used for improving the positioning accuracy of a spraying device and improving the reliability of a spraying detection result.
In a first aspect, an embodiment of the present invention provides a hanging basket, including: the spraying device comprises a first suspension body, and a spraying device and a camera which are positioned on the first suspension body, wherein the camera is fixed on the spraying device, and is configured to shoot images of a sprayed object;
the spraying control device is configured to acquire a compensation value according to the image shot during operation, the image shot during calibration before operation and the calibration distance, and move the spraying device from the current operation position to the compensation position according to the compensation value.
Optionally, the device further comprises a first moving axis and a second moving axis, wherein the first moving axis moves along a first direction, the second moving axis moves along a second direction, and the first direction is perpendicular to the second direction; the first movable shaft is movably connected to the first suspension body, the second movable shaft is movably connected to the first movable shaft, and the spraying device is fixed on the second movable shaft.
Optionally, the spraying device further comprises a first suction cup frame, a second suction cup frame, a first suction cup and a second suction cup, wherein the first suction cup frame and the second suction cup frame are movably connected to two opposite sides of the first suspension body, the first suction cup frame and the spraying device are located on the adjacent side of the first suspension body, and the second suction cup frame and the spraying device are located on the adjacent side of the first suspension body;
the first sucker is fixed at one end, far away from the first suspension body, of the first sucker frame, and the second sucker is fixed at one end, far away from the first suspension body, of the second sucker frame.
Optionally, the first chuck frame comprises a first frame body, a first included angle adjusting shaft and a second included angle adjusting shaft, one end of the first frame body is movably connected with the first suspension body, the other end of the first frame body is hinged to the first included angle adjusting shaft and the second included angle adjusting shaft, at least one first chuck is located at one end, far away from the first frame body, of the first included angle adjusting shaft, and at least one first chuck is located at one end, far away from the first frame body, of the second included angle adjusting shaft;
the second sucking disc frame includes second support body, third contained angle adjustment axle and fourth contained angle adjustment axle, the one end of second support body with first suspension body swing joint, the other end of second support body with third contained angle adjustment axle and fourth contained angle adjustment axle is articulated, at least one the second sucking disc is located third contained angle adjustment axle is kept away from second support body one end, at least one the second sucking disc is located fourth contained angle adjustment axle is kept away from second support body one end.
Optionally, the method further comprises: and the supplementary lighting lamp is fixed on the spraying device and is configured to provide auxiliary lighting beams.
In a second aspect, an embodiment of the present invention provides an inspection robot, including the nacelle according to the first aspect, and a suspension device;
the suspension device comprises a lifting motor, a winder and a rope, wherein the rope is fixedly connected with the first suspension body of the hanging basket, and the winder is driven by the lifting motor to lift or fall the hanging basket through the rope.
In a third aspect, an embodiment of the present invention provides a detection control system, including the detection robot in the second aspect;
further comprising: a server, communicatively coupled to the detector robot, configured to send work instructions to the detector robot.
In a fourth aspect, an embodiment of the present invention provides a detection method, including:
shooting images of the sprayed objects through a camera fixed on the spraying device;
acquiring a compensation value according to the shot image during operation, the shot image during calibration before operation and the calibration distance;
and moving the spraying device from the current operation position to a compensation position according to the compensation value.
Optionally, acquiring the compensation value according to the image captured during the job, the image captured during calibration before the job, and the calibration distance includes:
acquiring a first distance a between a first preset point on a sprayed object and a second preset point outside the sprayed object in a shot image during calibration1；
Obtaining a second distance b between the first preset point and the second preset point in the actual object during calibration1；
Acquiring a third distance a between a third preset point on the sprayed object and a fourth preset point outside the sprayed object in the shot image during operation2；
According to the formula
Acquiring a fourth distance b between the third preset point and the fourth preset point in the real object during operation2；
According to the formula Δ ═ b1-b2The compensation value delta is obtained.
Optionally, before the image of the object to be sprayed is captured by a camera fixed on the spraying device, the method further comprises:
controlling the first sucker frame to move to a first set position along the direction parallel to the wall surface and vertical to the wall surface, and controlling the second sucker frame to move to a second set position along the direction parallel to the wall surface and vertical to the wall surface;
rotating the first included angle adjusting shaft to a third set position, rotating the second included angle adjusting shaft to a fourth set position, rotating the third included angle adjusting shaft to a fifth set position, and rotating the fourth included angle adjusting shaft to a sixth set position;
the first sucker and the second sucker are used for sucking the wall surface to fix the first suspension body.
The embodiment of the invention provides a hanging basket, which comprises a camera and a spraying device, wherein the camera is fixed on the spraying device, the positions of the camera and the spraying device are relatively static, and the camera and the spraying device move together, so that the actual position (namely the current operation position) of the spraying device during operation can be obtained through an image shot during operation of the camera, an image shot during calibration before operation and the calibration distance during calibration before operation, a compensation value is obtained according to the actual position and a preset ideal position, and the spraying device is moved to the ideal position according to the compensation value, so that the positioning accuracy of the spraying device is improved, and the reliability of a spraying detection result is improved.
Drawings
Fig. 1 is a schematic perspective view of a hanging basket according to an embodiment of the present invention;
FIG. 2 is a front view of the basket shown in FIG. 1;
fig. 3 is a schematic structural diagram of a detection robot according to an embodiment of the present invention;
fig. 4 is a flowchart of a detection method according to an embodiment of the present invention;
FIG. 5 is a flow chart of another detection method provided by the embodiment of the invention;
fig. 6 is a flowchart of another detection method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic perspective view of a hanging basket according to an embodiment of the present invention, and fig. 2 is a front view of the hanging basket shown in fig. 1, and referring to fig. 1 and 2, the hanging basket 1 includes a first suspension body 11, and a spraying device 12 and a camera 13 which are located on the first suspension body 11, the camera 13 is fixed on the spraying device 12, and the camera 13 is configured to capture an image of a sprayed object. Illustratively, the spray device 12 may include a spray head through which the spray device 12 performs a spraying operation on the object to be sprayed. The sprayed object can be an external window of a building, and in order to test the waterproof capability of the external window, the external window needs to be subjected to a spraying test. The gondola 1 further comprises a spray control device (not shown in the figures) configured to obtain a compensation value from the images taken during operation, from the images taken during calibration before operation and from the calibration distance, and to move the spray means 12 from the current operating position to the compensation position according to the compensation value. The compensation position refers to a position at which the shower unit 12 is moved from the position at which the image is captured at the time of the current operation, based on the compensation value.
The embodiment of the invention provides a hanging basket, which comprises a camera 13 and a spraying device 12, wherein the camera 13 is fixed on the spraying device 12, the positions of the camera 13 and the spraying device 12 are relatively static, the camera 13 and the spraying device 12 move together, so that the actual position (namely the current operation position) of the spraying device 12 during operation can be obtained through an image shot by the camera 13 during operation, an image shot at the calibration time before operation and the calibration distance at the calibration time before operation, a compensation value is obtained according to the actual position and a preset ideal position, and the spraying device 12 is moved to the ideal position according to the compensation value, so that the positioning accuracy of the spraying device 12 is improved, and the reliability of a spraying detection result is improved.
Alternatively, referring to fig. 1 and 2, the gondola 1 further comprises a first movement axis 14 and a second movement axis 15, the first movement axis 14 moving in a first direction and the second movement axis 15 moving in a second direction, the first direction being perpendicular to the second direction. Illustratively, the first direction is an X direction parallel to the wall surface where the external window is located, and the second direction is a Z direction parallel to the wall surface where the external window is located. The first moving shaft 14 is movably connected to the first suspension body 11, the second moving shaft 15 is movably connected to the first moving shaft 14, and the spraying device 12 is fixed on the second moving shaft 15. In the embodiment of the present invention, the spray devices 12 are located on the first moving shaft 14 and the second moving shaft 15, so that after the first suspension body 11 of the gondola 1 is fixed to the wall body, the spray devices 12 can be moved in the first direction by the first moving shaft 14 and the spray devices 12 can be moved in the second direction by the second moving shaft 15 to finely adjust the positions of the spray devices 12, since the embodiment of the present invention improves the positioning accuracy of the spray devices 12 compared to adjusting the positions of the spray devices 12 only by moving the first suspension body 11.
Optionally, referring to fig. 1 and 2, the basket 1 further includes a first suction cup holder 16, a second suction cup holder 18, a first suction cup 17 and a second suction cup 19, the first suction cup holder 16 and the second suction cup holder 18 are movably connected to opposite sides of the first suspension body 11, the first suction cup holder 16 and the spraying device 12 are located at an adjacent side of the first suspension body 11, and the second suction cup holder 18 and the spraying device 12 are located at an adjacent side of the first suspension body 11. The first suction cup 17 is fixed to the end of the first suction cup frame 16 away from the first suspension body 11, and the second suction cup 19 is fixed to the end of the second suction cup frame 18 away from the first suspension body 11. In the embodiment of the invention, the first suction cup frame 16 and the second suction cup frame 18 are movably connected to two opposite sides of the first suspension body 11, the first suction cup 17 is fixed on the first suction cup frame 16, and the second suction cup 19 is fixed on the second suction cup frame 18, so that the position of the first suction cup 17 can be adjusted by the first suction cup frame 16 along the first direction (i.e. the X direction) and the direction (i.e. the Y direction) perpendicular to the wall surface of the external window, and the position of the second suction cup 19 can be adjusted by the second suction cup frame 18 along the first direction (i.e. the X direction) and the direction (i.e. the Y direction) perpendicular to the wall surface of the external window, so that the positioning accuracy of the first suspension body 11 is improved, and the positioning accuracy of the spraying device 12 is improved.
Optionally, referring to fig. 1 and 2, the first suction cup frame 16 includes a first frame body 161, a first included angle adjusting shaft 162 and a second included angle adjusting shaft 163, one end of the first frame body 161 is movably connected to the first suspension body 11, the other end of the first frame body 161 is hinged to the first included angle adjusting shaft 162 and the second included angle adjusting shaft 163, the at least one first suction cup 17 is located at an end of the first included angle adjusting shaft 162 far away from the first frame body 161, and the at least one first suction cup 17 is located at an end of the second included angle adjusting shaft 163 far away from the first frame body 161. The second suction cup frame 18 comprises a second frame body 181, a third included angle adjusting shaft 182 and a fourth included angle adjusting shaft 183, one end of the second frame body 181 is movably connected with the first suspension body 11, the other end of the second frame body 181 is hinged to the third included angle adjusting shaft 182 and the fourth included angle adjusting shaft 183, at least one second suction cup 19 is located at one end, far away from the second frame body 181, of the third included angle adjusting shaft 182, and at least one second suction cup 19 is located at one end, far away from the second frame body 181, of the fourth included angle adjusting shaft 183. In the embodiment of the present invention, the first angle adjusting shaft 162 and the second angle adjusting shaft 163 are hinged to the first frame 161, the first suction disc 17 is fixed on the first angle adjusting shaft 162, and the first suction disc 17 is fixed on the second angle adjusting shaft 163, so that the position of the first suction disc 17 can be adjusted by rotating the first angle adjusting shaft 162 and the second angle adjusting shaft 163 in a plane parallel to the wall surface where the external window is located. Third contained angle adjustment axle 182 and fourth contained angle adjustment axle 183 articulate in second support body 181, and second sucking disc 19 is fixed in on third contained angle adjustment axle 182, and second sucking disc 19 is fixed in on fourth contained angle adjustment axle 183 to can be on being on a parallel with the plane internal rotation of outer window place wall through third contained angle adjustment axle 182 and fourth contained angle adjustment axle 183, with the position of adjusting second sucking disc 19. Thereby improving the positioning accuracy of the first suspension body 11 and further improving the positioning accuracy of the spraying device 12.
Optionally, referring to fig. 1 and 2, the hanging basket 1 further includes a supplementary lighting lamp (not shown in the figure), which is fixed on the spraying device 12 and configured to provide an auxiliary lighting beam. In the embodiment of the invention, the light supplement lamp and the camera 13 are fixed on the spraying device 12 together, the light supplement lamp and the camera 13 are relatively static, and when the camera 13 shoots images, the light supplement lamp can illuminate the sprayed objects so as to improve the definition of the shot images.
Fig. 3 is a schematic structural diagram of an inspection robot according to an embodiment of the present invention, and referring to fig. 3, the inspection robot may include a basket 1 and a suspension device 2 according to the above embodiment. The specific structure of the basket 1 will not be repeated here. The suspension device 2 comprises a hoisting motor, a reel 23 and a rope 24, the rope 24 is fixedly connected with the first suspension body 11 of the basket 1, and the reel 23 is driven by the hoisting motor to hoist or drop the basket 1 through the rope 24. In the embodiment of the invention, the detection robot comprises the hanging basket 1 in the embodiment, so that the detection robot has the beneficial effects of improving the positioning accuracy of the spraying device 12 and improving the reliability of the spraying detection result, namely the hanging basket 1 in the embodiment.
Illustratively, referring to fig. 3, the suspension device 2 includes two lift motors, a first lift motor 21 and a second lift motor 22, respectively, the first lift motor 21 being connected to one rope 24, and the second lift motor 22 being connected to the other rope 24. In other embodiments, the suspension apparatus 2 may further include one or at least three lifting motors, which is not limited in this embodiment of the present invention.
Illustratively, referring to fig. 3, the suspension apparatus 2 further includes a pipe winder 25, a suspension electric cabinet 26, a second suspension body 27, and a trolley 28. The lift motors (first lift motor 21 and second lift motor 22), the reels 23, the pipe roller 25, and the suspension electric cabinet 26 may be fixed to a second suspension body 27, and the second suspension body 27 may be located on a trolley 28. Wherein the pipe reeler 25 is configured to lift a pipe (not shown in the figure) for circulating the spray liquid.
Exemplarily, referring to fig. 3, a spray control device 110 is illustrated in fig. 3, and the spray control device 110 may be fixed to the first suspension body 11. Fig. 3 illustrates a fill-in light 111, the fill-in light 111 is fixed on the spraying device 12, and the fill-in light 111 may be disposed around the camera 13. Also illustrated in fig. 3 is an external window 3 as a sprayed object, which external window 3 may be located on a wall surface.
The embodiment of the invention also provides a detection control system which comprises the detection robot in the embodiment. The detection control system further comprises a server which is in communication connection with the detector robot, and the server is configured to send work instructions to the detection robot. The detection control system in the embodiment of the invention comprises the detection robot in the embodiment, so that the detection robot has the beneficial effects of improving the positioning accuracy of the spraying device 12 and improving the reliability of the spraying detection result. In addition, in the detection system provided by the embodiment of the invention, the work instruction is sent to the detection robot through the remote server, so that the spraying detection operation process of the detection robot can be remotely controlled.
For example, a first work order may be sent to the inspection robot via a remote server, and the inspection robot may move the cart 28 to a designated location after receiving the first work order.
An embodiment of the present invention further provides a detection method, fig. 4 is a flowchart of the detection method provided in the embodiment of the present invention, and referring to fig. 1, fig. 2, and fig. 4, the detection method includes the following steps:
s101, the camera 13 fixed to the shower device 12 captures an image of the object to be sprayed.
In this step, the camera 13 is fixed to the shower unit 12, and the image of the object to be sprayed is taken by the camera 13 fixed to the shower unit 12. At this time, the acquired image is an image captured at the time of the job. The image captured during the work includes information on the distance between the spray device 12 and the object to be sprayed, that is, the image captured during the work includes information on the current work position.
And S102, acquiring a compensation value according to the shot image during the operation, the shot image during the calibration before the operation and the calibration distance.
In this step, before the spraying operation, a calibration operation may be performed, which is an operation when the spraying device 12 is moved to a preset ideal position. For example, in the calibration operation, the camera 13 is used to take an image at a preset ideal position, and the spraying device 12 is marked to move to the preset ideal position by taking the sprayed object as a reference, so that the distance from a certain reference point on the sprayed object to a certain reference point outside the sprayed object is taken as a calibration distance. This reference point outside the sprayed object can be, for example, a preset ideal position of the spray device 12.
And S103, moving the spraying device 12 from the current working position to the compensation position according to the compensation value.
In this step, the compensation position refers to a position at which the spray device 12 is moved from the position at which the image was captured at the time of the current operation, based on the compensation value. In an ideal case, the compensation position is a preset ideal position, a slight deviation may exist in an actual moving process, and the compensation position is within a small distance range with the preset ideal position as a center.
The embodiment of the invention provides a detection method, which comprises the steps of obtaining the actual position of a spraying device 12 during operation through an image shot by a camera 13 during operation, an image shot during calibration before operation and a calibration distance during calibration before operation, obtaining a compensation value according to the actual position and a preset ideal position, and moving the spraying device 12 to the ideal position according to the compensation value, so that the positioning accuracy of the spraying device 12 is improved, and the reliability of a spraying detection result is improved.
Fig. 5 is a flowchart of another detection method provided in an embodiment of the present invention, and referring to fig. 1, fig. 2, and fig. 5, the detection method includes the following steps:
s201, the camera 13 fixed to the shower device 12 captures an image of the object to be sprayed.
S202, acquiring a first distance a between a first preset point on a sprayed object and a second preset point outside the sprayed object in the shot image during calibration1。
In this step, during the calibration operation, after the camera 13 takes an image of the sprayed object, the taken image includes the graphic point of the first preset point on the sprayed object, the taken image also includes the graphic point of the second preset point outside the sprayed object, and the first distance a is1Is the distance between two pattern points. I.e. the first distance a1And the distance between the first preset point and the second preset point on the shot image is determined.
S203, acquiring a second distance b between a first preset point and a second preset point in the actual object during calibration1。
In this step, calibration is carried outIn operation, the distance between the first preset point and the second preset point in the real object, i.e. the second distance b, can be obtained by means of field measurement, for example1。
S204, acquiring a third distance a between a third preset point on the sprayed object and a fourth preset point outside the sprayed object in the shot image during operation2。
In this step, during the spraying operation, after the camera 13 takes an image of the sprayed object, the taken image includes the graphic point of the third preset point on the sprayed object, the taken image also includes the graphic point of the fourth preset point outside the sprayed object, and the third distance a2Is the distance between two pattern points. I.e. the third distance a2And the distance between the third preset point and the fourth preset point on the shot image is determined. The third preset point may be the same reference point as the first preset point, or the third preset point may be a different reference point from the first preset point.
S205, according to the formula
Acquiring a fourth distance b between a third preset point and a fourth preset point in the real object during operation2。
In this step, since the distance between the two reference points in the captured image is changed (reduced) in a certain ratio with respect to the actual distance, the ratio of the same camera 13 to the two images captured during the calibration operation and the spraying operation is maintained constant. Namely, satisfies: a is1/b1＝a2/b2. Thus, can be based on the formula
Acquiring a fourth distance b between a third preset point and a fourth preset point in the real object during operation2。
S206, according to the formula delta b1-b2The compensation value delta is obtained.
And S207, moving the spraying device 12 from the current working position to the compensation position according to the compensation value.
Practice of the inventionIn one embodiment, the detection method is based on a formula
Acquiring a fourth distance b between a third preset point and a fourth preset point in the real object during operation2And according to the formula Δ ═ b1-b2The compensation value Δ is acquired, thereby simplifying a method of acquiring the compensation value. In other embodiments, the compensation value may also be obtained by other methods, for example, by 10 of the calibration distance at calibration before operationNAnd estimating the current working position, wherein the value of N can be obtained according to the experience of spraying for multiple times. Then according to the current working position and the second distance b1And acquiring a compensation value.
Fig. 6 is a flowchart of another detection method provided in an embodiment of the present invention, and referring to fig. 1, fig. 2, and fig. 6, the detection method includes the following steps:
s301, the first suction cup frame 16 is controlled to move to a first set position along the direction parallel to the wall surface and perpendicular to the wall surface, and the second suction cup frame 18 is controlled to move to a second set position along the direction parallel to the wall surface and perpendicular to the wall surface.
In this step, the first suction cup frame 16 and the second suction cup frame 18 are movably connected to opposite sides of the first suspension body 11, the first suction cup 17 is fixed to the first suction cup frame 16, and the second suction cup 19 is fixed to the second suction cup frame 18, so that the position of the first suction cup 17 can be adjusted by the first suction cup frame 16 along a first direction (i.e., an X direction) and a direction perpendicular to a wall surface where the external window is located (i.e., a Y direction), and the position of the second suction cup 19 can be adjusted by the second suction cup frame 18 along the first direction (i.e., the X direction) and the direction perpendicular to the wall surface where the external window is located (i.e., the Y direction).
S302, rotate the first angle adjustment shaft 162 to a third setting position, rotate the second angle adjustment shaft 163 to a fourth setting position, rotate the third angle adjustment shaft 182 to a fifth setting position, and rotate the fourth angle adjustment shaft 183 to a sixth setting position.
In this step, the first angle adjustment shaft 162 and the second angle adjustment shaft 163 can rotate in a plane (XZ plane) parallel to the wall surface where the external window is located, so as to adjust the position of the first suction cup 17. The position of the second suction cup 19 can be adjusted by rotating the third angle adjustment shaft 182 and the fourth angle adjustment shaft 183 in a plane parallel to the wall surface where the external window is located.
And S303, adsorbing the wall surface through the first suction cup 17 and the second suction cup 19 to fix the first suspension body 11.
In this step, the vacuum valve can be opened to make the first suspension body 11 fixed on the wall where the external window is located by the first suction cup 17 and the second suction cup 19.
S304, the image of the object to be sprayed is captured by the camera 13 fixed to the spray device 12.
S305, acquiring a compensation value according to the shot image during the operation, the shot image during the calibration before the operation and the calibration distance.
And S306, moving the spraying device 12 from the current working position to the compensation position according to the compensation value.
In the detection method provided by the embodiment of the present invention, the position of the first suction cup 17 can be adjusted in the first direction and the direction perpendicular to the wall surface where the external window is located by the first frame body 161 in the first suction cup frame 16, and the position of the first suction cup 17 can be adjusted in the plane parallel to the wall surface where the external window is located by the first included angle adjusting shaft 162 and the second included angle adjusting shaft 163. The position of the second suction cup 19 can be adjusted in the first direction and the direction perpendicular to the wall surface where the external window is located by the second frame body 181 of the second suction cup frame 18, and the position of the second suction cup 19 can be adjusted in the plane parallel to the wall surface where the external window is located by the third included angle adjusting shaft 182 and the fourth included angle adjusting shaft 183. Thereby improving the positioning accuracy of the first suspension body 11 and further improving the positioning accuracy of the spraying device 12.
Exemplarily, before the step S301, the detection method may further include:
step one, the trolley 28 moves to a fixed position on the same vertical surface above the external window to be detected on the top of the construction building through a steering wheel of the trolley to complete positioning, and the rope 24 and the hanging basket 1 are fixed.
And step two, driving the first lifting motor 21 and the second lifting motor 22 to pull the rope 24 so as to control the hanging basket 1 to move up and down.
Illustratively, between step S303 and step S304, the detection method may further include: the fill light 111 is turned on.
Exemplarily, after the step S306, the detection method may further include: and the spraying device 12 sprays water for detection until the detection is finished and stops working.
It is to be understood that the detection methods in the above different embodiments may be combined with each other, for example, step S305 may be specifically detailed as step S202 to step S206.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A gondola, characterized in that it comprises: the spraying device comprises a first suspension body, and a spraying device and a camera which are positioned on the first suspension body, wherein the camera is fixed on the spraying device, and is configured to shoot images of a sprayed object;
the spraying control device is configured to acquire a compensation value according to the image shot during operation, the image shot during calibration before operation and the calibration distance, and move the spraying device from the current operation position to the compensation position according to the compensation value.
2. The basket according to claim 1, further comprising a first moving axis and a second moving axis, the first moving axis moving in a first direction and the second moving axis moving in a second direction, the first direction being perpendicular to the second direction; the first movable shaft is movably connected to the first suspension body, the second movable shaft is movably connected to the first movable shaft, and the spraying device is fixed on the second movable shaft.
3. The hanging basket according to claim 1, further comprising a first suction cup frame, a second suction cup frame, a first suction cup and a second suction cup, wherein the first suction cup frame and the second suction cup frame are movably connected to two opposite sides of the first hanging frame body, the first suction cup frame and the spraying device are positioned on the adjacent side of the first hanging frame body, and the second suction cup frame and the spraying device are positioned on the adjacent side of the first hanging frame body;
the first sucker is fixed at one end, far away from the first suspension body, of the first sucker frame, and the second sucker is fixed at one end, far away from the first suspension body, of the second sucker frame.
4. The hanging basket according to claim 3, wherein the first sucker frame comprises a first frame body, a first included angle adjusting shaft and a second included angle adjusting shaft, one end of the first frame body is movably connected with the first suspension frame body, the other end of the first frame body is hinged with the first included angle adjusting shaft and the second included angle adjusting shaft, at least one first sucker is positioned at one end, far away from the first frame body, of the first included angle adjusting shaft, and at least one first sucker is positioned at one end, far away from the first frame body, of the second included angle adjusting shaft;
the second sucking disc frame includes second support body, third contained angle adjustment axle and fourth contained angle adjustment axle, the one end of second support body with first suspension body swing joint, the other end of second support body with third contained angle adjustment axle and fourth contained angle adjustment axle is articulated, at least one the second sucking disc is located third contained angle adjustment axle is kept away from second support body one end, at least one the second sucking disc is located fourth contained angle adjustment axle is kept away from second support body one end.
5. The basket according to claim 1, further comprising: and the supplementary lighting lamp is fixed on the spraying device and is configured to provide auxiliary lighting beams.
6. An inspection robot comprising the gondola of any one of claims 1 to 5, and a suspension device;
the suspension device comprises a lifting motor, a winder and a rope, wherein the rope is fixedly connected with the first suspension body of the hanging basket, and the winder is driven by the lifting motor to lift or fall the hanging basket through the rope.
7. An inspection control system characterized by comprising the inspection robot of claim 6;
further comprising: a server, communicatively coupled to the detector robot, configured to send work instructions to the detector robot.
8. A method of detection, comprising:
shooting images of the sprayed objects through a camera fixed on the spraying device;
acquiring a compensation value according to the shot image during operation, the shot image during calibration before operation and the calibration distance;
and moving the spraying device from the current operation position to a compensation position according to the compensation value.
9. The detection method according to claim 8, wherein obtaining the compensation value based on the image captured at the time of the job, the image captured at the time of calibration before the job, and the calibration distance comprises:
acquiring a first distance a between a first preset point on a sprayed object and a second preset point outside the sprayed object in a shot image during calibration1；
Obtaining a second distance b between the first preset point and the second preset point in the actual object during calibration1；
Captured image of job acquisitionA third distance a between a third preset point on the spray object and a fourth preset point outside the sprayed object2；
According to the formula
Acquiring a fourth distance b between the third preset point and the fourth preset point in the real object during operation2；
According to the formula Δ ═ b1-b2The compensation value delta is obtained.
10. The inspection method according to claim 8, further comprising, before taking an image of the object to be sprayed by a camera fixed to the spraying device:
controlling the first sucker frame to move to a first set position along the direction parallel to the wall surface and vertical to the wall surface, and controlling the second sucker frame to move to a second set position along the direction parallel to the wall surface and vertical to the wall surface;
rotating the first included angle adjusting shaft to a third set position, rotating the second included angle adjusting shaft to a fourth set position, rotating the third included angle adjusting shaft to a fifth set position, and rotating the fourth included angle adjusting shaft to a sixth set position;
the first sucker and the second sucker are used for sucking the wall surface to fix the first suspension body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010535598.XA CN111739092A (en) | 2020-06-12 | 2020-06-12 | Hanging basket, detection robot, detection control system and detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010535598.XA CN111739092A (en) | 2020-06-12 | 2020-06-12 | Hanging basket, detection robot, detection control system and detection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111739092A true CN111739092A (en) | 2020-10-02 |
Family
ID=72648955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010535598.XA Pending CN111739092A (en) | 2020-06-12 | 2020-06-12 | Hanging basket, detection robot, detection control system and detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111739092A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189111A (en) * | 2021-04-28 | 2021-07-30 | 西南交通大学 | Visual detection system and detection method for appearance defects of steel structure net rack |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003194521A (en) * | 2001-12-28 | 2003-07-09 | Kajima Corp | Measuring apparatus |
| CN105865451A (en) * | 2016-04-19 | 2016-08-17 | 深圳市神州云海智能科技有限公司 | Method and device applied to indoor location of mobile robot |
| KR20160111678A (en) * | 2015-03-17 | 2016-09-27 | 주식회사 유라코퍼레이션 | Using one carmera distance measurement apparatus and method |
| CN105964486A (en) * | 2015-03-11 | 2016-09-28 | 宁波舜宇光电信息有限公司 | Automatic gluing system and gluing method thereof |
| CN107680135A (en) * | 2017-11-16 | 2018-02-09 | 珊口（上海）智能科技有限公司 | Localization method, system and the robot being applicable |
| US20180061075A1 (en) * | 2016-08-30 | 2018-03-01 | Canon Kabushiki Kaisha | Distance measurement device and image capturing control device |
| CN107764193A (en) * | 2016-08-19 | 2018-03-06 | 株式会社斯库林集团 | Displacement detector, displacement detecting method and substrate board treatment |
| CN109008839A (en) * | 2017-06-09 | 2018-12-18 | 河北卓达建材研究院有限公司 | A kind of wall surface cleaner device people |
| US20190005668A1 (en) * | 2016-03-09 | 2019-01-03 | Nikon Corporation | Imaging device, image processing device, storage medium, and imaging system |
| US20190025858A1 (en) * | 2016-10-09 | 2019-01-24 | Airspace Systems, Inc. | Flight control using computer vision |
| US20190118394A1 (en) * | 2017-10-19 | 2019-04-25 | Canon Kabushiki Kaisha | Control apparatus, robot system, method for operating control apparatus, and storage medium |
| CN110533718A (en) * | 2019-08-06 | 2019-12-03 | 杭州电子科技大学 | A kind of navigation locating method of the auxiliary INS of monocular vision artificial landmark |
| CN110621962A (en) * | 2018-02-28 | 2019-12-27 | 深圳市大疆创新科技有限公司 | Positioning method of movable platform and related device and system |
| CN110636923A (en) * | 2017-05-17 | 2019-12-31 | 深圳配天智能技术研究院有限公司 | Motion control method of robot, robot and controller |
| US20200050213A1 (en) * | 2016-10-20 | 2020-02-13 | Lg Electronics Inc. | Mobile robot and method of controlling the same |
| CN111178317A (en) * | 2020-01-06 | 2020-05-19 | 广东博智林机器人有限公司 | Detection positioning method, system, device, electronic equipment and storage medium |
-
2020
- 2020-06-12 CN CN202010535598.XA patent/CN111739092A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003194521A (en) * | 2001-12-28 | 2003-07-09 | Kajima Corp | Measuring apparatus |
| CN105964486A (en) * | 2015-03-11 | 2016-09-28 | 宁波舜宇光电信息有限公司 | Automatic gluing system and gluing method thereof |
| KR20160111678A (en) * | 2015-03-17 | 2016-09-27 | 주식회사 유라코퍼레이션 | Using one carmera distance measurement apparatus and method |
| US20190005668A1 (en) * | 2016-03-09 | 2019-01-03 | Nikon Corporation | Imaging device, image processing device, storage medium, and imaging system |
| CN105865451A (en) * | 2016-04-19 | 2016-08-17 | 深圳市神州云海智能科技有限公司 | Method and device applied to indoor location of mobile robot |
| CN107764193A (en) * | 2016-08-19 | 2018-03-06 | 株式会社斯库林集团 | Displacement detector, displacement detecting method and substrate board treatment |
| US20180061075A1 (en) * | 2016-08-30 | 2018-03-01 | Canon Kabushiki Kaisha | Distance measurement device and image capturing control device |
| US20190025858A1 (en) * | 2016-10-09 | 2019-01-24 | Airspace Systems, Inc. | Flight control using computer vision |
| US20200050213A1 (en) * | 2016-10-20 | 2020-02-13 | Lg Electronics Inc. | Mobile robot and method of controlling the same |
| CN110636923A (en) * | 2017-05-17 | 2019-12-31 | 深圳配天智能技术研究院有限公司 | Motion control method of robot, robot and controller |
| CN109008839A (en) * | 2017-06-09 | 2018-12-18 | 河北卓达建材研究院有限公司 | A kind of wall surface cleaner device people |
| US20190118394A1 (en) * | 2017-10-19 | 2019-04-25 | Canon Kabushiki Kaisha | Control apparatus, robot system, method for operating control apparatus, and storage medium |
| CN107680135A (en) * | 2017-11-16 | 2018-02-09 | 珊口（上海）智能科技有限公司 | Localization method, system and the robot being applicable |
| CN110621962A (en) * | 2018-02-28 | 2019-12-27 | 深圳市大疆创新科技有限公司 | Positioning method of movable platform and related device and system |
| CN110533718A (en) * | 2019-08-06 | 2019-12-03 | 杭州电子科技大学 | A kind of navigation locating method of the auxiliary INS of monocular vision artificial landmark |
| CN111178317A (en) * | 2020-01-06 | 2020-05-19 | 广东博智林机器人有限公司 | Detection positioning method, system, device, electronic equipment and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189111A (en) * | 2021-04-28 | 2021-07-30 | 西南交通大学 | Visual detection system and detection method for appearance defects of steel structure net rack |
| CN113189111B (en) * | 2021-04-28 | 2022-11-01 | 西南交通大学 | Visual detection system and detection method for appearance defects of steel structure net rack |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109552665B (en) | Method for measuring and inspecting structures using a catenary platform | |
| US20160281910A1 (en) | Automated Mobile Boom System for Crawling Robots | |
| CN111287417A (en) | Intelligent spraying robot for outer wall of high-rise building and control method thereof | |
| JP6678154B2 (en) | Surface treatment system for large objects | |
| CN107765145B (en) | Automatic partial discharge detection device, system and method | |
| TWI724335B (en) | Control method for surface treatment system | |
| GB2576976A (en) | Cable-suspended non-destructive inspection units for rapid large-area scanning | |
| CN109972827A (en) | Spray robot and control method and control device, computer readable storage medium | |
| KR20120104043A (en) | Gondola robot controlling position using inverse kinematics and method for controlling position thereof | |
| CN111739092A (en) | Hanging basket, detection robot, detection control system and detection method | |
| KR102236366B1 (en) | Building outer wall working robot | |
| CN108620840B (en) | Aircraft cabin door intelligent installation method based on AGV intelligent parallel robot | |
| WO2020224546A1 (en) | Spray painting robot | |
| CN110180697B (en) | Remote control system and method for spraying of outer wall | |
| CN112782686A (en) | Automatic alignment system and method for loading based on multidimensional identification and positioning technology | |
| CN114534970B (en) | Device for coating inner surface of large spherical container | |
| CN112265648A (en) | Control system of boarding bridge | |
| CN112040200A (en) | Crane hoisting monitoring system and control method thereof | |
| CN113404313B (en) | Intelligent visual guide installation system for glass curtain wall | |
| CN114644291A (en) | Safety boundary building device for electric power hoisting operation based on visual processing | |
| JPH09127286A (en) | Method and apparatus for inspection/repairing of nuclear power plant | |
| CN111924712A (en) | Bulk grain container loading and unloading device based on visual positioning | |
| JP2021039081A (en) | Automatic wall surface traveling and hammering sound ai diagnostic device | |
| CN219592014U (en) | Paying-off pulley with rope guiding mechanism | |
| CN113044736B (en) | Crane with sling stability control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |