CN111775150A - Route correction method for inspection robot - Google Patents
Route correction method for inspection robot Download PDFInfo
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- CN111775150A CN111775150A CN202010581007.2A CN202010581007A CN111775150A CN 111775150 A CN111775150 A CN 111775150A CN 202010581007 A CN202010581007 A CN 202010581007A CN 111775150 A CN111775150 A CN 111775150A
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- 238000007689 inspection Methods 0.000 title claims abstract description 142
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 52
- 230000008569 process Effects 0.000 claims abstract description 7
- 238000004088 simulation Methods 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- 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
- B25J9/1666—Avoiding collision or forbidden zones
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a route correction method for an inspection robot, which comprises the following steps: and (3) route driving: the inspection robot runs according to the inspection route and shoots scenes on the inspection route; the detection equipment shoots an image of the inspection robot in the running process and detects the coordinates of the inspection robot; and placing the auxiliary coordinate system into the main coordinate system, detecting the coordinate of the inspection robot and the nearest coordinate on the inspection route, and making a correction route. According to the route correction method for the inspection robot, firstly, the detection area of the inspection robot is simulated before driving, so that the inspection route can be conveniently and timely re-planned, the detection comprehensiveness of the inspection robot is improved, secondly, the actual driving route of the inspection robot can be detected by installing the detection equipment on the route of the inspection robot, the inspection robot can be conveniently corrected, and meanwhile, timely adjustment can be carried out according to changes in the detection area.
Description
Technical Field
The invention relates to the field of robots, in particular to a route correction method for an inspection robot.
Background
With the continuous development of robots, more and more robots walk into the lives of people, meanwhile, the lives of people are changed, and various complex and tedious works are performed instead of manual work, so that the lives of people are liberated, for example, the robots are used for performing routing inspection instead of manual work;
when the existing inspection robot is used, route data need to be input into the robot in advance, then the robot executes according to the obtained route data, but because the position and the state of an object in real life are not invariable, if the inspection robot runs according to an originally formulated route, collision or damage and the like easily occur, and secondly, when the inspection robot encounters an obstacle, the external contour of the obstacle cannot be detected by detection equipment of the inspection robot, so that the inspection robot cannot reformulate a route which meets the actual condition, and the normal use of the inspection robot is influenced.
Disclosure of Invention
The invention mainly aims to provide a route correction method for an inspection robot, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
a route correction method for an inspection robot comprises the following steps:
route planning: establishing a main coordinate system according to the range to be inspected, putting the coordinates of each object in the range to be inspected into the main coordinate system, and making an inspection route;
and (3) route driving: the inspection robot runs according to the inspection route and shoots scenes on the inspection route;
track acquisition: the detection equipment on two sides of the driving route shoots images of the inspection robot in the driving process and detects the coordinates of the inspection robot and the barrier;
and (3) correction detection: putting the obtained coordinates of the inspection robot into a main coordinate system, and detecting the coordinates of the inspection robot and the nearest coordinates on the inspection route;
and (3) route correction: and formulating a correction route according to the coordinates of the inspection robot, the nearest coordinates on the inspection route and the coordinates of the obstacle.
Preferably, before the route planning, the to-be-patrolled range and the shooting range of the robot are obtained, and a vision positioning camera is installed in the to-be-patrolled range.
Preferably, a main coordinate system is established, the initial position of the inspection robot is used as the origin of coordinates, the front direction is the positive direction of the X axis when the inspection robot is located at the initial position, and the right direction of the inspection robot is the positive direction of the Y axis, so that the main coordinate system is obtained.
Preferably, after the route is driven, the method further comprises:
and (3) route driving: the inspection robot drives the inspection robot along the inspection route according to the shooting range to obtain a detection area of the option robot;
area comparison: and putting the obtained detection area into a range to be inspected, detecting to obtain an undetected area, and re-establishing an inspection route.
Preferably, before the track is obtained, an auxiliary coordinate system is established, the coordinate where the detection equipment is located is obtained first, the position where the detection equipment is located is taken as the origin of coordinates, the detection positive direction of the detection equipment is the X-axis direction, and the right direction of the detection equipment is the Y-axis positive direction.
Preferably, when the track is obtained, the auxiliary coordinate system is placed on the coordinate point of the detection device in the main coordinate system, so that the actual coordinate of the inspection robot is obtained.
Preferably, before the correction route is formulated, the detection equipment detects the outside of the inspection robot to obtain the volume data of the inspection robot, the interval gap is detected between the detected obstacles, and then the simulation inspection robot drives through the simulation data according to the planned route and is compared with the interval gap to obtain the reference data.
Compared with the prior art, the invention has the following beneficial effects:
firstly, before driving, a detection area of the inspection robot is simulated, so that an inspection route of the inspection robot is conveniently and timely re-planned, and the detection comprehensiveness of the inspection robot is improved;
secondly, the inspection robot can detect the actual running route of the inspection robot by installing the detection equipment on the route of the inspection robot, so that the inspection robot can be conveniently corrected, and meanwhile, the detection equipment can be timely adjusted according to the change in the detection area;
and thirdly, when the route is corrected, the simulation of the inspection robot driving through the reference data between the obstacles can timely know that the robot can pass through the obstacles and how to pass through the obstacles, so that the obstacle avoidance capability of the inspection robot is improved.
Drawings
Fig. 1 is a flow chart of the overall structure of the route correction method of the inspection robot.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
A route correction method for an inspection robot comprises the following steps:
route planning: before planning a route, acquiring a to-be-inspected range and a shooting range of a robot, installing a vision positioning camera in the to-be-inspected range, establishing a main coordinate system according to the to-be-inspected range, putting coordinates of an object in the to-be-inspected range into the main coordinate system, formulating an inspection route, establishing the main coordinate system, and obtaining the main coordinate system by taking the starting position of the inspection robot as a coordinate origin, taking the front direction of the inspection robot when the inspection robot is positioned at the starting position as the positive direction of an X axis, and taking the right direction of the inspection robot as the positive direction of a Y axis;
and (3) route driving: the inspection robot runs according to the inspection route and shoots scenes on the inspection route;
and (3) route driving: the inspection robot drives the inspection robot along the inspection route according to the shooting range to obtain a detection area of the option robot;
area comparison: putting the obtained detection area into a to-be-inspected range, detecting to obtain an undetected area, and re-establishing an inspection route;
track acquisition: before the track is obtained, an auxiliary coordinate system is established, the coordinate of detection equipment is obtained, the detection positive direction of the detection equipment is the X-axis direction, the detection equipment is the Y-axis positive direction, the detection equipment on two sides of the driving route shoots the image of the inspection robot in the driving process and detects the coordinates of the inspection robot and the obstacle, and when the track is obtained, the auxiliary coordinate system is placed on the coordinate point of the main coordinate system where the detection equipment is located, so that the actual coordinate of the inspection robot is obtained;
and (3) correction detection: putting the obtained coordinates of the inspection robot into a main coordinate system, and detecting the coordinates of the inspection robot and the nearest coordinates on the inspection route;
and (3) route correction: before a correction route is formulated, detecting the exterior of the inspection robot by using detection equipment to obtain volume data of the inspection robot, detecting gaps among detected obstacles, driving the simulation inspection robot through the simulation data according to the planned route, comparing the simulation data with the gaps to obtain reference data, and formulating the correction route according to coordinates of the inspection robot, the nearest coordinates on the inspection route and the coordinates of the obstacles.
When the inspection robot is used, a main coordinate system is established through the position of the inspection robot (the initial position of the inspection robot is used as the origin of coordinates, the front direction is the positive direction of an X axis when the inspection robot is positioned at the initial position, and the right direction of the inspection robot is the positive direction of a Y axis), the position of a barrier to be inspected in an inspection range is established and detected by detection equipment, the coordinates of the barrier are obtained, an inspection route is formulated according to the coordinates of the barrier, the inspection robot is driven along the inspection route according to the shooting range of the inspection robot, the range which can be detected by the inspection robot in the driving process of the inspection route can be obtained, then a detection area is placed in the main coordinate system, an undetected area is obtained, the inspection route is re-formulated according to the undetected area, and the inspection route which can completely cover all the inspection range is obtained.
After the routing inspection route is formulated, the routing inspection robot runs according to the route, in the running process, detection equipment arranged on two sides of the running route is used for shooting images of the routing inspection robot in the running process and detecting the coordinates of the routing inspection robot and the barrier, then an auxiliary coordinate system (the position of the detection equipment is taken as an original coordinate point, the detection positive direction of the detection equipment is an X-axis direction, and the detection equipment is taken as a Y-axis positive direction) is placed on a coordinate point of the detection equipment in a main coordinate system, so that the actual coordinate of the routing inspection robot is obtained, the obtained coordinate of the routing inspection robot is placed in the main coordinate system, and the coordinate of the routing inspection robot and the nearest coordinate on the routing inspection route are detected.
Before a correction route is appointed, detecting the exterior of the inspection robot by a detection device to obtain volume data (including the width, the height and the length of the inspection robot) of the inspection robot, detecting gaps among obstacles, driving the simulation inspection robot through the simulation data according to a planned route, comparing the simulation data with the gaps to obtain reference data, and formulating the correction route according to coordinates of the inspection robot, the nearest coordinates on the inspection route and the coordinates of the obstacles.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A route correction method for an inspection robot is characterized by comprising the following steps:
route planning: establishing a main coordinate system according to the range to be inspected, putting the coordinates of each object in the range to be inspected into the main coordinate system, and making an inspection route;
and (3) route driving: the inspection robot runs according to the inspection route and shoots scenes on the inspection route;
track acquisition: the detection equipment on two sides of the driving route shoots images of the inspection robot in the driving process and detects the coordinates of the inspection robot and the barrier;
and (3) correction detection: putting the obtained coordinates of the inspection robot into a main coordinate system, and detecting the coordinates of the inspection robot and the nearest coordinates on the inspection route;
and (3) route correction: and formulating a correction route according to the coordinates of the inspection robot, the nearest coordinates on the inspection route and the coordinates of the obstacle.
2. The inspection robot path rectification method according to claim 1, wherein: before the route planning, a to-be-patrolled range and a shooting range of the robot are obtained, and a vision positioning camera is installed in the to-be-patrolled range.
3. The inspection robot path rectification method according to claim 1, wherein: and establishing a main coordinate system to use the starting position of the inspection robot as the origin of coordinates, and using the front direction as the positive direction of the X axis when the inspection robot is positioned at the starting position, and using the right side direction of the inspection robot as the positive direction of the Y axis to obtain the main coordinate system.
4. The inspection robot path rectification method according to claim 1, wherein: after the route is driven, the method further comprises:
and (3) route driving: the inspection robot drives the inspection robot along the inspection route according to the shooting range to obtain a detection area of the option robot;
area comparison: and putting the obtained detection area into a range to be inspected, detecting to obtain an undetected area, and re-establishing an inspection route.
5. The inspection robot path rectification method according to claim 1, wherein: before the track is obtained, an auxiliary coordinate system is established, the coordinate where the detection equipment is located is obtained firstly, the position where the detection equipment is located is taken as the origin of coordinates, the positive detection direction of the detection equipment is the X-axis direction, and the right direction of the detection equipment is the positive Y-axis direction.
6. The inspection robot path rectification method according to claim 5, wherein: and when the track is obtained, the auxiliary coordinate system is placed on the coordinate point of the detection equipment in the main coordinate system, so that the actual coordinate of the inspection robot is obtained.
7. The inspection robot path rectification method according to claim 1, wherein: before the correction route is formulated, the detection equipment detects the exterior of the inspection robot to obtain the volume data of the inspection robot, detects the interval gaps between the detected obstacles, and then the simulation inspection robot drives through the simulation data according to the planned route and compares the simulation data with the gaps to obtain the reference data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010581007.2A CN111775150A (en) | 2020-06-23 | 2020-06-23 | Route correction method for inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010581007.2A CN111775150A (en) | 2020-06-23 | 2020-06-23 | Route correction method for inspection robot |
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| Publication Number | Publication Date |
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| CN111775150A true CN111775150A (en) | 2020-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010581007.2A Withdrawn CN111775150A (en) | 2020-06-23 | 2020-06-23 | Route correction method for inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117270548A (en) * | 2023-11-23 | 2023-12-22 | 安徽领云物联科技有限公司 | Intelligent inspection robot with route correction function |
-
2020
- 2020-06-23 CN CN202010581007.2A patent/CN111775150A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117270548A (en) * | 2023-11-23 | 2023-12-22 | 安徽领云物联科技有限公司 | Intelligent inspection robot with route correction function |
| CN117270548B (en) * | 2023-11-23 | 2024-02-09 | 安徽领云物联科技有限公司 | Intelligent inspection robot with route correction function |
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Application publication date: 20201016 |