CN112113503B - Positioning device, operation equipment and positioning method for curtain wall - Google Patents
Positioning device, operation equipment and positioning method for curtain wall Download PDFInfo
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- CN112113503B CN112113503B CN202010974240.7A CN202010974240A CN112113503B CN 112113503 B CN112113503 B CN 112113503B CN 202010974240 A CN202010974240 A CN 202010974240A CN 112113503 B CN112113503 B CN 112113503B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Abstract
The invention provides a positioning device, operation equipment and a positioning method for a curtain wall, wherein the positioning device comprises: a processing unit; the processing unit is fixedly connected with the laser emitting unit through a fixing plate; the camera shooting unit is electrically connected with the processing unit and comprises a monocular camera; the orientation of the camera and the laser beam emitted by the laser emitting unit form a preset included angle, the camera shooting unit is used for collecting images of gaps irradiated by laser, the processing unit obtains pixel parameters of the gaps in the images, and relative position information between the camera and the curtain wall can be obtained according to the pixel parameters and can be accurately positioned.
Description
Technical Field
The invention relates to the field of machine vision, in particular to a positioning device, operation equipment and a positioning method for a curtain wall.
Background
Along with the rapid promotion and development of urbanization, high-rise buildings in cities are more and more, only newly-built glass curtain walls are 9000 ten thousand square meters every year, and if the glass curtain walls contain other curtain wall decorative materials such as aluminum plastics, the area of the glass curtain walls is larger. At present, people have more and more external wall cleaning, monitoring and maintenance and other suspended high-altitude operations due to the aesthetic requirements of the curtain wall and the cleaning standard of the government for the high-rise external wall. However, most of the work at high altitudes still adopt manual work, and along with the development of technological progress and unmanned development, the replacement of such manual work by machines is a necessary trend.
If the intelligent cleaning robot is adopted to complete the work, the positioning is an important problem in the work of the intelligent cleaning robot. The traditional positioning mode is difficult to adapt due to the problems of complex structure, complex light environment, serious signal interference and the like of the outer vertical surface of the high-rise curtain wall. Taking the traditional GPS as an example, the accuracy can only be accurate to meters under ideal conditions, and the error is difficult to estimate under the complex building conditions, while the positioning accuracy of centimeter level is difficult to guarantee under the complex curtain wall conditions by more advanced positioning technologies such as the beidou or real-time dynamic carrier phase difference (RTK for short). If the traditional machine vision or millimeter wave radar is adopted, the interference can be caused by the complicated material characteristics of the building curtain wall, and the positioning precision is difficult to maintain. If the positioning is forced by adopting the ways of installing the rails and the like, the installation difficulty and the maintenance cost of the rails cannot be measured, the attractiveness of the building can be influenced, and unnecessary potential safety hazards can be caused. In the face of complex tasks of curtain wall cleaning or detection, centimeter-level and even millimeter-level positioning is important, which is also an important reason why similar robots are not widely popularized at present.
Therefore, to the outer facade operation equipment of complicated curtain, need one kind and can reach centimeter level or millimeter level's high accuracy positioning device for the outer facade operation equipment of curtain can its operation orbit of accurate control, and it becomes possible to let the machine accomplish work such as curtain washing, curtain detection.
Disclosure of Invention
In view of the above, it is desirable to provide a positioning device, a working apparatus and a positioning method for a curtain wall, which can improve the positioning accuracy on the curtain wall.
The invention provides a positioning device for a curtain wall, the curtain wall comprises a decorative panel and a frame for supporting the decorative panel, a gap is arranged at the edge combination position of the decorative panel and the frame, and the positioning device comprises:
a processing unit;
the control unit is fixedly connected with the laser emitting unit through a fixing plate; and
the camera shooting unit is electrically connected with the processing unit and comprises a monocular camera;
the camera comprises a camera head, a laser emitter, a processing unit and a curtain wall, wherein a preset included angle is formed between the orientation of the camera head and a laser beam of laser of the laser emitter, the camera head is used for collecting pixel parameters of a gap irradiated by the laser, and the processing unit is used for obtaining position information between the camera head and the curtain wall according to the pixel parameters.
So set up, through laser emission unit transmission laser to curtain, and shine the clearance of curtain, because the clearance of curtain or frame are different to the refracting index of laser with ornamental material, can gather X axle coordinate and the Y axle coordinate that is located the gap position through the camera, can obtain through the polynomial function of predetermineeing in the control host the unit of making a video recording is for the positional information in frame or gap, and the error can reach centimetre level, can realize accurate location.
In an embodiment of the present invention, the predetermined included angle is between 0 degree and 90 degrees.
So set up, through be between 0 degree to 90 degrees between the orientation of camera unit and the laser emitter's the laser beam for the laser that laser emission unit sent is in camera unit's field of vision within range, has guaranteed that camera unit can read the coordinate by the gap that laser shines.
In one embodiment of the present invention, the laser emitted by the laser emitting unit is a line-shaped or cross-shaped laser.
So set up, laser is a style of calligraphy or cross, can realize reading the coordinate of gap position department to in the location the real distance of camera unit for frame or gap.
In an embodiment of the present invention, the positioning device further includes a pan/tilt assembly electrically connected to the processing unit, the pan/tilt assembly includes a first fixing frame and a first motor, one end of the first motor is fixed to the first fixing frame, the other end of the first motor is fixed to the fixing plate, and an axis of the first motor is parallel to or perpendicular to an orientation of the image capturing unit, so that the first fixing frame moves rotationally relative to the processing unit.
So set up, produced unnecessary vibrations or change when positioner in the operation, can influence the unit of making a video recording and can't shine perpendicularly in the thing of being shone, and the setting of (unipolar) cloud platform can revise the angle change to the error that can guarantee to fix a position is in controllable within range.
In an embodiment of the present invention, the holder assembly further includes a second fixing frame and a second motor, one end of the second motor is fixed to the second fixing frame, and the other end of the second motor is fixed to the first fixing frame, and an axis of the first motor is perpendicular to an axis of the second motor, so that the first fixing frame moves rotationally relative to the first fixing frame.
So set up, when operation equipment self does not have even running's ability, can be equipped with the biax cloud platform and come to revise positioning error to the error that can guarantee the location is at controllable within range.
In an embodiment of the present invention, the holder assembly further includes a third fixing frame and a third motor, one end of the third motor is fixed to the second fixing frame, and the other end of the third motor is fixed to the third fixing frame, and an axis of the first motor, an axis of the second motor, and an axis of the third motor are perpendicular to each other, so that the third fixing frame moves rotationally with respect to the second fixing frame.
So set up, be equipped with the triaxial cloud platform in positioner to realize when the operation equipment self does not have the even running ability completely, also can carry out the accurate positioning to the relative position between curtain and the camera unit, can overcome the unnecessary vibrations or the angle change of appearing among the positioning process well.
The invention also provides a positioning method for the curtain wall, which is applied to the positioning device and comprises the following steps:
adjusting the relative relation between the positioning device and the curtain wall so that the gap of the curtain wall is positioned in the visual field range of the camera unit, and the orientation of the camera is vertical to the surface of the curtain wall;
emitting laser to the curtain wall through the laser emitting unit and enabling the laser to irradiate the gap;
acquiring an image of a gap irradiated by laser through a camera unit;
and acquiring pixel parameters of a gap in the image through a processing unit, and acquiring relative position information between the camera and the curtain wall according to the pixel parameters.
In one embodiment of the invention, the pixel parameters comprise pixel coordinates (X1, y1) of the intersection of the laser and the slit parallel to the direction of the X axis and the pixel range of the X axis in the current image; and/or the pixel coordinates (x2, Y2) of the intersection of the laser light with the slit parallel to the Y-axis and the pixel range of the Y-axis in the current image.
In one embodiment of the present invention, in the step of obtaining the pixel parameter of the gap in the image through the processing unit, and obtaining the relative position information between the camera and the curtain wall according to the pixel parameter, the method further includes the steps of:
inputting y1 in pixel coordinates (x1, y1) into a preset first polynomial function to obtain a distance Zd between a camera of the camera unit and a curtain wall;
inputting the distance Zd between the camera of the camera unit and the curtain wall to a preset second polynomial function to obtain the actual width range of the current X-axis direction; and/or inputting the distance Zd between the camera of the camera unit and the curtain wall to a preset third polynomial function to obtain the actual width range of the current Y-axis direction;
multiplying the ratio of the X1 to the X-axis pixel range by the actual width range of the current X-axis direction to obtain the actual distance between the camera and the curtain wall along the X-axis direction; and or obtaining the actual distance between the camera and the curtain wall along the Y-axis direction according to the ratio of the Y2 to the Y-axis pixel range multiplied by the actual width range of the current Y-axis direction.
The invention also provides operating equipment comprising the positioning device for the curtain wall.
Drawings
Fig. 1 is a schematic structural diagram of a positioning device of the present invention.
Fig. 2 is an exploded view of the positioning device of the present invention.
11. A fixing plate; 12. a processing unit; 13. an image pickup unit; 14. a laser emitting unit; 20. a holder assembly; 21. a first motor; 22. a first fixing frame; 23. a second motor; 24. a second fixing frame; 25. a third motor; 26. and a third fixing frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, the present invention provides a positioning device for a curtain wall, the curtain wall includes a frame for supporting a decorative panel, the decorative panel may be a glass or ceramic tile decorative material, the frame is used for fixing the decorative panel to form the curtain wall, a gap is naturally formed at a matching position of the frame and the decorative panel, or a gap is formed between an edge position of the frame and the decorative panel. In general, the frame and the trim panel have different refractive indices for light and, correspondingly, the refractive indices of the frame and the trim panel at the gap. For convenience of description and explanation, the edge position of the frame or the gap position formed between the edge position and the decorative panel is referred to as a gap, and the positioning device of the present invention is used for positioning the relative position between the positioning device and the gap, and can achieve positioning accuracy on a centimeter level or even a millimeter level. Still further, it should be understood by those skilled in the relevant art that positioning of the curtain wall refers to positioning of the facade of the curtain wall to facilitate work, such as cleaning, by the work equipment on the curtain wall.
As shown in fig. 1 and 2, the positioning device includes a processing unit 12; the laser emitting unit 14 is used for emitting laser to the curtain wall, and the processing unit 12 and the laser emitting unit 14 are fixedly connected through the fixing plate 11; the camera unit 13 is electrically connected with the control unit, and the camera unit 13 comprises a monocular camera; the orientation of the camera and the laser beam of the laser emitting unit 14 form a preset included angle, the camera unit 13 is used for collecting an image of a gap irradiated by laser, the processing unit 12 obtains pixel parameters of the gap in the image, and relative position information between the camera and the curtain wall is obtained according to the pixel parameters. Here, the pixel parameters include pixel coordinates (X1, y1) where the laser light parallel to the X-axis direction intersects with the slit, and a pixel range of the X-axis in the current image; and/or the pixel coordinates (x2, Y2) where the laser light parallel to the Y-axis intersects the slit, and the pixel range of the Y-axis in the current image, etc. The position information comprises the distance between the camera and the curtain wall, the distance between the camera and the curtain wall along the X-axis direction, the distance between the camera and the curtain wall along the Y-axis direction and the like.
For convenience of description, in this specification, the direction in which the camera is oriented is set to be the Z-axis direction, the camera is oriented perpendicular to the curtain wall, the up-down direction of the curtain wall is positioned to be the Y-axis direction with respect to the curtain wall, and the left-right direction in which the curtain wall is positioned is defined to be the X-axis direction.
The processing unit 12 has the capability of controlling signal and data processing, and may also have a gyroscope disposed therein to detect whether the position of the positioning device has changed angularly. The camera unit 13 is a monocular camera that can be used to acquire position parameters of the curtain wall photographed in the field of view, and the position parameters may include coordinate information of a certain position. The processing unit 12 can acquire the position parameters photographed in the image pickup unit 13, and can perform data processing on the position parameters so as to acquire the positional relationship between the image pickup unit 13 and the curtain wall.
The laser emitting unit 14 comprises a laser capable of emitting laser, preferably, the laser emitting unit 14 emits line-shaped laser or cross-shaped laser to the curtain wall, and when the laser emits the line-shaped laser, the processing unit 12 can obtain the pixel coordinates of the gap in the X-axis or Y-axis direction according to the image collected by the camera unit 13; when the laser emits cross laser, the processing unit 12 can simultaneously acquire the pixel coordinates of the slit in the X-axis and Y-axis directions from the image acquired by the imaging unit 13.
Specifically, the laser of the laser emitting unit 14 emits laser to the curtain wall, the laser irradiates the frame and the decorative panel of the curtain wall, and due to the difference in refractive index between the frame and the decorative panel, the processing unit 12 can acquire the pixel coordinates of the slit at the X axis and/or the Y axis in the image of the laser irradiation slit acquired by the monocular camera, where it should be noted that, in the positioning process, the orientation of the camera needs to be kept perpendicular to the outer vertical surface where the curtain wall is located. The relative position information of the monocular camera relative to the curtain wall can be obtained through a preset polynomial function in the processing unit 12, the error can reach centimeter level, and accurate positioning can be achieved.
In one embodiment of the present invention, the preset angle between the orientation of the camera and the laser beam of the laser emitting unit 14 is between 0 and 90 degrees. Specifically, in a YZ plane, an included angle between the orientation of the camera unit 13 and a beam of laser of the laser emitter is α, and an angle range of the included angle α is between 0 degree and 90 degrees, so that the laser emitted by the laser emitting unit 14 is in a visual field range of the camera unit 13, and it is ensured that the camera unit 13 can acquire an image of a slit irradiated by the laser.
As shown in fig. 1 and 2, the positioning device further includes a pan/tilt assembly 20, the pan/tilt assembly 20 is electrically connected to the processing unit 12, and the pan/tilt assembly 20 can be used for performing angle correction when the positioning device or the operation equipment having the positioning device vibrates and is responsible for angle change, so as to ensure that the obtained error can be within a controllable range.
The pan/tilt head assembly 20 includes a first fixing frame 22 and a first motor 21, one end of the first motor 21 is fixed to the first fixing frame 22, the other end of the first motor 21 is fixed to the fixing plate 11, an axis of the first motor 21 is parallel to or perpendicular to an orientation of the image pickup unit 13, so that the first fixing frame 22 rotates relative to the processing unit 12, and the first motor 21 is electrically connected to the processing unit 12.
In an embodiment of the present invention, the pan/tilt head assembly 20 further includes a second fixing frame 24 and a second motor 23, one end of the second motor 23 is fixed to the second fixing frame 24, and the other end is fixed to the first fixing frame 22, an axis of the first motor 21 is perpendicular to an axis of the second motor 23, so that the first fixing frame 22 moves rotationally relative to the first fixing frame 22, and the second motor 23 is electrically connected to the processing unit 12.
In an embodiment of the present invention, the head assembly 20 further includes a third fixing frame 26 and a third motor 25, one end of the third motor 25 is fixed to the second fixing frame 24, the other end is fixed to the third fixing frame 26, an axis of the first motor 21, an axis of the second motor 23 and an axis of the third motor 25 are perpendicular to each other, so that the third fixing frame 26 moves rotationally relative to the second fixing frame 24, and the third motor 15 is electrically connected to the processing unit 12.
Specifically, when the positioning device is used for the operation equipment, if the operation equipment can stably operate, the cradle head is not required to be arranged, and the vibration or the angle change generated by the positioning device in the working process is corrected by the stable capability of the operation equipment. When the angle of the operating equipment in a certain direction (which can be any one of the X-axis, the Y-axis or the Z-axis) changes or vibrates and cannot be corrected, the single-axis tripod head in the direction can be arranged on the positioning device. For example, when the work equipment cannot correct the angle change in the Z-axis direction, a Z-axis pan/tilt head may be provided on the positioning device. Or when the angle change of two directions of the operating equipment exists or the vibration cannot be corrected, the two-axis platform in the two directions can be arranged on the positioning device. For example, when the working equipment cannot perform angle correction in the X-axis and Y-axis directions, an X-axis pan/tilt head and a Y-axis pan/tilt head may be provided on the positioning device, respectively. Similarly, when the operation equipment can not stably run, a three-axis holder formed by an X-axis holder, a Y-axis holder and a Z-axis holder can also be arranged on the positioning device respectively. It should be understood by those skilled in the relevant art that the positioning device provided by the present invention can be provided with a three-axis pan/tilt head to maintain smooth operation to the maximum extent without considering the operation smoothness of the operation equipment.
As shown in fig. 1 and fig. 2, further, the pan/tilt head assembly 20 of the positioning apparatus provided by the present invention is a three-axis pan/tilt head, wherein the axis of the first motor 21 is parallel to the Z axis, so that the first motor 21 and the first fixing frame 22 form a Z axis pan/tilt head; the axis of the second motor 23 is parallel to the X axis, so the second motor 23, the second fixing frame 24 and the first fixing frame 22 form an X axis pan-tilt; similarly, the third motor 25 and the second holder 24 form a Y-axis pan/tilt head.
The invention also provides a positioning method for the curtain wall, which is applied to the positioning device and comprises the following steps:
adjusting the relative relationship between the positioning device and the curtain wall so that the gap of the curtain wall is positioned in the visual field range of the camera unit 13 and the direction of the camera is perpendicular to the surface of the curtain wall;
emitting laser to the curtain wall through the laser emitting unit 14 and enabling the laser to irradiate the gap;
the image of the slit irradiated by the laser is collected by the camera unit 13;
the pixel parameters of the gaps in the image are obtained through the processing unit 12, and the relative position information between the camera and the curtain wall is obtained according to the pixel parameters.
In the step of adjusting the relative relationship between the positioning device and the curtain wall, so that the frame or the gap of the curtain wall is located in the visual field range of the camera unit 13, and the direction of the camera unit 13 is perpendicular to the surface of the curtain wall, because the relative positions of the camera unit 13 and the laser emitting unit 14 of the positioning device are fixed, the laser emitted by the laser emitting unit 14 can be recognized by the camera unit 13 under the condition that the camera unit 13 is in a proper position.
In the step, the laser emitting unit 14 emits laser to the curtain wall and enables the laser to irradiate the frame or the gap, and the laser emitter can emit linear laser or cross laser, which can be selected according to requirements. When emitting a linear laser, the processing unit 12 can obtain the pixel coordinates of the slit in the X-axis or Y-axis direction according to the image collected by the camera unit 13; when the laser emits cross laser, the processing unit 12 can simultaneously acquire the pixel coordinates of the slit in the X-axis and Y-axis directions from the image acquired by the imaging unit 13.
The pixel parameters comprise pixel coordinates (X1, y1) of intersection of the laser parallel to the X-axis direction and the gap and a pixel range of the X-axis in the current image; and/or the pixel coordinates (x2, Y2) of the intersection of the laser light with the slit parallel to the Y-axis and the pixel range of the Y-axis in the current image.
In the YZ plane, there is an intersection point between the light beam of the laser emitting unit 14 and the orientation of the camera, the distance between the camera and the intersection point is set to Fd, and the distance between the monocular camera of the camera unit 13 and the curtain wall is set to Zd.
In one embodiment of the present invention, in the step of obtaining the pixel parameter of the slit in the image through the processing unit 12, and obtaining the relative position information between the camera and the curtain wall according to the pixel parameter, the method further includes the steps of:
inputting y1 in the pixel coordinates (x1, y1) to a preset first polynomial function to obtain a distance Zd between the camera of the camera unit 13 and the curtain wall;
inputting the distance Zd between the camera of the camera unit 13 and the curtain wall to a preset second polynomial function to obtain the actual width range of the current X-axis direction; and/or inputting the distance Zd between the camera of the camera unit 13 and the curtain wall to a preset third polynomial function to obtain the actual width range of the current Y-axis direction;
multiplying the ratio of the X1 to the X-axis pixel range by the actual width range of the current X-axis direction to obtain the actual distance between the camera and the curtain wall along the X-axis direction; and/or obtaining the actual distance between the camera and the curtain wall along the Y-axis direction according to the ratio of the Y2 to the Y-axis pixel range multiplied by the actual width range of the current Y-axis direction.
In the step of inputting y1 in the pixel coordinates (x1, y1) into a preset first polynomial function to obtain the distance Zd from the curtain wall by the camera of the camera unit 13, the first polynomial function can be obtained by data fitting, specifically, by adjusting the fixed values of Fd, Zd, and α, the laser emitted by the laser emitter can be collected by the camera within the required irradiated measurement range. When the positioning device runs, if vibration changes or the surface of the curtain wall is sunken or raised, Zd can be changed, the distance between the Zd and a Z-axis direction range acquired by a camera in the change range is continuously tested, and a first polynomial F is obtained through data fitting1(x)，F1(x)＝-0.0000004*x3+0.0003*x2-0.1012 × x + 23.675. For convenience of explanation, assuming that the laser emitter emits cross laser light, the imaging unit 13 can simultaneously acquire the pixel coordinates (X1, Y1) of the slit in the X-axis direction and the pixel coordinates (X2, Y2) in the Y-axis direction, and the Y1 is substituted into the first polynomial function, so that Zd can be obtained.
Inputting the distance Zd between the camera of the camera unit 13 and the curtain wall to a preset second polynomial function to obtain the actual width range of the current X-axis direction; and/or inputting the distance Zd between the camera of the camera unit 13 and the curtain wall to a preset third polynomial function to obtain a second polynomial function F in the actual width range of the current Y-axis direction2(x)＝0.0038*x2+0.8811 × x +3.9227, the second polynomial function is tested continuously in the acquisition range of Zd, and the height of the Y-axis pixel of the image acquired by the camera is corresponding to the real Y-axis of the curtain wallA high degree of data fitting is formed by bringing the Zd obtained above into F2(x) In this way, the width range of the current X axis can be obtained. Similarly, bringing Zd into a third polynomial F3(x)＝0.0108*x2+0.4054 × x +4.9292, the width range of the current Y axis is obtained.
Multiplying the ratio of the X1 to the X-axis pixel range by the actual width range of the current X-axis direction to obtain the actual distance between the camera and the curtain wall along the X-axis direction; and/or obtaining the actual distance between the camera and the curtain wall along the Y-axis direction according to the ratio of the Y2 to the Y-axis pixel range multiplied by the actual width range of the current Y-axis direction, so that the accurate relative position between the camera and the curtain wall can be obtained.
The invention also provides working equipment comprising the positioning device for the curtain wall, such as a curtain wall cleaning robot and the like.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.
Claims (7)
1. A positioning device for a curtain wall including a trim panel and a frame for supporting the trim panel, the trim panel and the frame having a gap at an edge junction thereof, the positioning device comprising:
a processing unit;
the processing unit is fixedly connected with the laser emitting unit through a fixing plate; and
the camera shooting unit is electrically connected with the processing unit and comprises a monocular camera;
the processing unit is used for acquiring pixel parameters of gaps in the images and acquiring relative position information between the camera and the curtain wall according to the pixel parameters;
the positioning method applying the positioning device comprises the following steps:
adjusting the relative relation between the positioning device and the curtain wall so that the gap of the curtain wall is positioned in the visual field range of the camera unit, and the orientation of the camera is vertical to the surface of the curtain wall;
emitting laser to the curtain wall through the laser emitting unit and enabling the laser to irradiate the gap;
acquiring an image of a gap irradiated by laser through a camera unit;
acquiring pixel parameters of a gap in the image through a processing unit, and acquiring relative position information between the camera and the curtain wall according to the pixel parameters;
the pixel parameters comprise pixel coordinates (X1, y1) of intersection of the laser parallel to the X-axis direction and the gap and a pixel range of the X-axis in the current image; and/or the pixel coordinates (x2, Y2) where the laser light parallel to the Y-axis intersects the slit and the pixel range of the Y-axis in the current image;
in the step of obtaining the pixel parameter of the gap in the image through the processing unit and obtaining the relative position information between the camera and the curtain wall according to the pixel parameter, the method further comprises the following steps:
inputting y1 in pixel coordinates (x1, y1) into a preset first polynomial function to obtain a distance Zd between a camera of the camera unit and a curtain wall, and obtaining a first polynomial F1(x) through data fitting, wherein F1(x) -0.0000004 x3+0.0003 x2-0.1012 x + 23.675;
inputting the distance Zd between the camera of the camera unit and the curtain wall to a preset second polynomial function to obtain the actual width range of the current X-axis direction, wherein the second polynomial function F2(X) is 0.0038X 2+ 0.8811X + 3.9227; and/or inputting the distance Zd between the camera of the camera unit and the curtain wall to a preset third polynomial function to obtain the actual width range of the current Y-axis direction, wherein the third polynomial function F3(x) is 0.0108 x2+0.4054 x + 4.9292;
multiplying the ratio of the X1 to the X-axis pixel range by the actual width range of the current X-axis direction to obtain the actual distance between the camera and the curtain wall along the X-axis direction; and/or obtaining the actual distance between the camera and the curtain wall along the Y-axis direction according to the ratio of the Y2 to the Y-axis pixel range multiplied by the actual width range of the current Y-axis direction.
2. The curtain wall positioning device as claimed in claim 1, wherein the predetermined included angle is between 0 and 90 degrees.
3. The positioning device for the curtain wall as claimed in claim 1, wherein the laser emitted by the laser emitting unit is a linear or cross laser.
4. The positioning device for the curtain wall according to claim 1, wherein the positioning device further comprises a pan/tilt assembly electrically connected to the processing unit, the pan/tilt assembly comprises a first fixing frame and a first motor, one end of the first motor is fixed to the first fixing frame, the other end of the first motor is fixed to the fixing plate, and an axis of the first motor is parallel to or perpendicular to an orientation of the camera unit, so that the first fixing frame moves rotationally relative to the processing unit.
5. The curtain wall positioning device according to claim 4, wherein the pan/tilt head assembly further comprises a second fixing frame and a second motor, one end of the second motor is fixed to the second fixing frame, the other end of the second motor is fixed to the first fixing frame, and an axis of the first motor is perpendicular to an axis of the second motor, so that the first fixing frame can rotate relative to the first fixing frame.
6. The curtain wall positioning device according to claim 5, wherein the pan/tilt head assembly further comprises a third fixing frame and a third motor, one end of the third motor is fixed to the second fixing frame, the other end of the third motor is fixed to the third fixing frame, and an axis of the first motor, an axis of the second motor and an axis of the third motor are perpendicular to each other, so that the third fixing frame moves in a rotating manner relative to the second fixing frame.
7. A working apparatus, characterized by comprising a positioning device for curtain walls according to any one of claims 1 to 6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN210001501U (en) * | 2019-04-25 | 2020-01-31 | 点狮科技(浙江)有限公司 | kinds of intelligent sling |
| CN110732512A (en) * | 2019-04-25 | 2020-01-31 | 点狮科技(浙江)有限公司 | water circulation foam cleaning device |
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| KR20050071824A (en) * | 2004-01-03 | 2005-07-08 | 주식회사 대경에스앤씨티 | Thickness deviation measuring apparatus for brick panel and the measuring method |
| GB0422638D0 (en) * | 2004-10-12 | 2004-11-10 | Spinlock Structures Ltd | Panel system |
| WO2013039915A1 (en) * | 2011-09-14 | 2013-03-21 | Soladigm, Inc. | Portable defect mitigator for electrochromic windows |
| CN102406489A (en) * | 2011-11-23 | 2012-04-11 | 博宇(无锡)科技有限公司 | System for checking and cleaning curtain wall |
| CN102866706B (en) * | 2012-09-13 | 2015-03-25 | 深圳市银星智能科技股份有限公司 | Cleaning robot adopting smart phone navigation and navigation cleaning method thereof |
| CN105908953A (en) * | 2016-05-01 | 2016-08-31 | 王亚莉 | Building external wall face screeding and spray-coating device |
| CN111287417A (en) * | 2020-04-07 | 2020-06-16 | 合肥工业大学 | Intelligent spraying robot for outer wall of high-rise building and control method thereof |
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| CN210001501U (en) * | 2019-04-25 | 2020-01-31 | 点狮科技(浙江)有限公司 | kinds of intelligent sling |
| CN110732512A (en) * | 2019-04-25 | 2020-01-31 | 点狮科技(浙江)有限公司 | water circulation foam cleaning device |
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