CN1730249A - Autonomic positioning method of mobile manipulator used for repairing leakages of dangerous chemicals container - Google Patents
Autonomic positioning method of mobile manipulator used for repairing leakages of dangerous chemicals container Download PDFInfo
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- CN1730249A CN1730249A CN 200510014707 CN200510014707A CN1730249A CN 1730249 A CN1730249 A CN 1730249A CN 200510014707 CN200510014707 CN 200510014707 CN 200510014707 A CN200510014707 A CN 200510014707A CN 1730249 A CN1730249 A CN 1730249A
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Abstract
The invention relates to movable manipulator self-position method to plug the leakage of danger chemical storage and belongs to automatic control technique field. Wherein, after the detection device receives leakage signal form field detection sensor, the self-position comprises: (1) the self-position process the manipulator controls the actuator to move to leakage place, which belongs to the navigation location process based on photoelectric sensor or based on computer vision; (2) the self-position process the manipulator controls the actuator to realize alignment of plug device and leakage point, which belongs to position process based on computer vision. This invention has high automation degree, reliable and precise position, and simple system structure.
Description
Technical field
The invention belongs to the automatic control technology field, particularly relate to a kind of mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method.
Background technology
At present, traditional artificial shutoff is still continued to use in repairing leakages of dangerous chemicals container work.On-the-spot detecting sensor detects after the leakage, the information such as mechanical attachment form that to reveal position, leakage place by remote wireless alarm system send Control Room to, the staff of Control Room receives after the warning message, choose corresponding shutoff scheme, and manually plugging mechanism is delivered to and revealed the place, manually carry out the location of plugging device, implement the shutoff operation the leak point.This leakage plugging working method, dangerous high, the occasion and the working range that are suitable for are subjected to all restrictions because of human factor, are not suitable for the leakage plugging of hazardous chemical memories such as poisonous, radioactivity especially.
Summary of the invention
The present invention provides a kind of mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method for solving the problem that prior art exists.
The objective of the invention is to utilize modern computer control technology realization leakage plugging mobile manipulator independently to locate, replace the artificial judgment construction, convenient, safety, the shutoff that is particularly suitable for the hazardous chemical memory leaks is operated.
The operation principle and the process of the autonomous location of the shutoff mobile manipulator under the hazardous environment: the on-the-spot detecting sensor of multipoint mode detection system is after detecting leakage, to reveal the position by remote wireless alarm system, information such as the mechanical attachment form of leakage place send Control Room to, Control Room is after receiving warning message, mechanical attachment form according to leakage place, choose corresponding shutoff scheme and plugging mechanism is fixed to the end of mobile manipulator by quick-mounting device, mobile manipulator rapidly moves to the leakage alert locations by autonomous mode, and carry out the first location of mobile platform according to the car body tick lables of leak point, the vehicle-mounted control computer is determined the locus of leak point with respect to the car body tick lables according to the leak detection environment information database, and the kinematics of carrying out manipulator is Converse solved, and then move in the plugging device trend leak point of passing through motion controller driving device hand, realize the coarse positioning of plugging device with respect to the leak point, ultrasonic range finder sensor by arm end and plugging device is carried out accurate location with respect to the leak point based on the computer vision of ccd video camera utilizes plugging device that quick blocking is carried out in the leak point then then.
Regional position control method and the mobile manipulator actuating unit accurate position control method to the leak point is revealed in the arrival that the invention provides the mobile manipulator car body.
The control method of mobile manipulator car body has two kinds: a kind of is the control method that color sensor and bar code sensor combine.Navigator fix technology based on photoelectric sensor: by the identification of color sensor to color, identification is carried out in the path, when manipulator was walked outlet, change color caused that sensor I/O output quantity changes, and host PC detects back program correction, finishes and patrols mark.Bar code sensor mainly has been the effect of location, and when robot movement arrived the top of bar code, bar code was issued main frame with the content of bar code by serial ports simultaneously during barcode scanner was swept, and main frame is resolved the content of bar code and made corresponding action.
Another kind is based on the control method of computer vision.Navigator fix technology based on computer vision: the technology of having used fuzzy control and neutral net.Fuzzy control technology is applied in the car body navigation, has realized path trace, adopted nerual network technique to carry out landmark identification.
In order to realize the track and localization of moving body, laid path and road sign in advance, mobile manipulator arrives appointed positions by identification path and road sign.
The mobile manipulator actuating unit is to the accurate position control method of leak point.Manipulator fine positioning method based on computer vision: the leakage region aftercarriage that the mobile manipulator car body arrives appointment stops, automatically each joint is adjusted to an attitude according to the mark information manipulator that reads, accurately located by the ultrasonic range finder sensor and the camera that are arranged in arm end then.The fine positioning flow process of mobile manipulator comprises: the collection and the threshold value of initialization, image cut apart, remove noise spot, judge whether comprise target in the image, calculate bending moment not, judge whether for given figure, calculate figure barycenter, obtain the coordinate of impact point in space coordinates etc. by matrixing and judge implementation, determine the fine positioning of actuator to the leak point.
The present invention adopts following technical scheme:
The mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method, after supervising device is received on-the-spot detecting sensor leakage signal, determine to reveal the position, mobile manipulator is according to the leakage plugging scheme, the control car body moves to reveals the place, mobile manipulator is positioned the leak point then, realizes the shutoff of plugging device to the leak point; Be characterized in that autonomic positioning method of mobile manipulator comprises:
(1) mechanically moving hand control actuator car body moves to the autonomous position fixing process of revealing the place, adopts based on the navigator fix process of photoelectric sensor or based on the navigator fix process of computer vision
Navigator fix process based on photoelectric sensor: lay color path and road sign in advance, mobile manipulator is by path color sensor, landmark sensor identification path and road sign, and the control car body arrives assigned address;
Navigator fix process based on computer vision: lay color path and road sign in advance, mobile manipulator extracts color path from the image that video camera is taken, and the control car body carries out path trace, the road sign image that extracts is handled arriving assigned address.
(2) mechanically moving hand control actuator is realized the autonomous position fixing process in plugging device aligning leak point, adopts the position fixing process based on computer vision
Position fixing process based on computer vision: after the mobile manipulator car body arrives the leakage region of appointment, car body stops and adjusting the car body attitude according to mark information, then by being arranged on the sonac measuring distance on the manipulator, obtain leak point two dimensional surface positional information by camera, realize the location of leak point.
The present invention can also take following technical measures:
Above-mentioned mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method, be characterized in: based on the path color sensor in the navigator fix process of photoelectric sensor is two groups, knowledge is debated in the path, when the manipulator car body is walked outlet, change color causes that sensor I/O output quantity changes, the controller change detected is rectified a deviation, and finishes and patrols mark.
Above-mentioned mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method, be characterized in: based on the road sign in the navigator fix process of photoelectric sensor is bar code, pattern or numeral, when robot movement arrives road sign, landmark sensor scanning road sign, simultaneously content is passed to controller, controller is resolved content and is determined the position, and makes corresponding actions.
Above-mentioned mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method is characterized in: laying color path in the navigator fix process based on computer vision in advance is red path.
Above-mentioned mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method, be characterized in: mechanically moving hand control actuator is realized aiming in the autonomous position fixing process of leak point employing based on computer vision, arrange circle marker at the position that takes place easily to leak, the position of the starting point of actuator by the center of circle of circle marker being determined obtain the plugging device spray gun.
The present invention has following tangible advantage and good effect:
The mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method, have automaticity height, technology reliable, patrol that the border centering capacity is strong, accurate positioning, advantages such as error is little, system architecture is simple, operating cost is low, the quick and easy safety of shutoff, satisfy the autonomous positioning action process of mobile manipulator well, reached good repairing leakages of dangerous chemicals container effect.
Description of drawings
Fig. 1 is the accurate positioning flow schematic diagram of manipulator actuator of the present invention;
When being the mobile manipulator path trace, Fig. 2 is positioned at schematic diagram on the path just;
Fig. 3 has when being the mobile manipulator path trace than the large deviation schematic diagram;
Fig. 4 is the landmark identification schematic flow sheet;
Fig. 5 is that the mobile manipulator actuator is determined the positional information schematic diagram.
The specific embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, enumerate following example now.
Embodiment 1
With reference to accompanying drawing 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5.
The mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method, after supervising device is received on-the-spot detecting sensor leakage signal, determine to reveal the position, mobile manipulator is according to the leakage plugging scheme, the control car body moves to reveals the place, mobile manipulator is positioned the leak point then, realizes the shutoff of plugging device to the leak point; Autonomic positioning method of mobile manipulator comprises:
(1) mechanically moving hand control actuator car body moves to the autonomous position fixing process of revealing the place.This position fixing process is based on the navigator fix process of photoelectric sensor: lay red path and bar code road sign in advance, mobile manipulator is by path color sensor, landmark sensor identification path and road sign, and the control car body arrives assigned address.
That color sensor uses is the CZ-V1 of KEYENCE company, CZ-10, and it is accurate to the identification of color, rate of false alarm is low, reliable.Select for use two groups the path carried out identification, when manipulator was walked outlet, change color caused that sensor I/O output quantity changes, and host PC detects back program correction, finishes and patrols mark.Bar code sensor mainly has been the effect of location, and when robot movement arrived the top of bar code, bar code was issued main frame with the content of bar code by serial ports simultaneously during barcode scanner was swept, and main frame is resolved the content of bar code and made corresponding action.
Color sensor patrols the mark positioning control: the output of left and right sides sensor has only four kinds of combinations: (0,0), (1,0), (0,1), (0,0); The information that goes out that can judge for these several outputs is limited, so will utilize a kind of algorithm to remedy the deficiency of hardware.The information of single is judged and can not be judged when the position of front vehicle body with respect to the path, especially when the signal of two sensors beyond the car body offset path all is 0.So, designed a signals collecting formation in the program, be stored in the formation every 300ms collection primary transducer signal and it, the FIFO rule is followed in formation, each signal of gathering all is placed on the last of formation, do not preserve if the signal of being gathered is identical with last time, judge current car body location status according to the sensor information that stores in the formation in the program, thereby carry out next step control operation.
For the accuracy that guarantees to control, clear all motion conditions considerations of car body, the specified control state table:
Bar code sensor arrives appointed area control: bar code sensor reads the bar code that is placed in advance on the path, judges by the bar code information that reads whether car body arrives the zone of appointment.The model that bar code sensor adopts is SymbolLS1900.
(2) mechanically moving hand control actuator realizes that plugging device is to the accurately autonomous position fixing process in leak point.Employing is based on the position fixing process of computer vision: after the mobile manipulator car body arrives the leakage region of appointment, car body stops and adjusting the car body attitude according to mark information, then by being arranged on the sonac measuring distance on the manipulator, obtain leak point two dimensional surface positional information by camera, realize the location of leak point.Mechanically moving hand control actuator is realized aiming in the autonomous position fixing process of leak point employing based on computer vision, arrange circle marker at the position that takes place easily to leak, the position of the starting point of actuator by the center of circle of circle marker being determined obtain the plugging device spray gun.
The leak point position fixing process is as follows: the leakage region aftercarriage that the mobile manipulator car body arrives appointment stops, automatically each joint is adjusted to an attitude according to the mark information manipulator that reads, accurately located by the ultrasonic range finder sensor and the camera that are arranged in arm end then.
In order to finish above-mentioned motion scheme, need us to obtain the positional information of target leakage point with respect to end effector.By arranging that endways a camera obtains the relative position information at a two dimensional surface, obtain by ultrasonic range finder sensor in the distance of vertical this two dimensional surface direction, as shown in Figure 5.Arrange circle marker at the position that takes place easily to leak, the position of the starting point of end effector by the center of circle of circle marker being determined obtain spray gun.O-XYZ is space coordinates among Fig. 5, and O '-X ' Y ' Z ' is a camera coordinate system, O, and " UV is a plane of delineation coordinate system, and 1 projection of P in plane of delineation coordinate system as shown in the figure in the space.
The fine positioning flow process of mobile manipulator is shown in Figure 1.Comprise: the collection and the threshold value of initialization, image cut apart, remove noise spot, judge whether comprise target in the image, calculate bending moment not, judge whether for given figure, calculate figure barycenter, obtain the coordinate of impact point in space coordinates etc. by matrixing and judge implementation, determine the fine positioning of actuator to the leak point.
The figure center-of-mass coordinate that calculates by bending moment not is converted to the coordinate under the space coordinates, controls manipulator then and moves to leakage point and begin shutoff.
Embodiment 2
With reference to accompanying drawing 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5.
The mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method, after supervising device is received on-the-spot detecting sensor leakage signal, determine to reveal the position, mobile manipulator is according to the leakage plugging scheme, the control car body moves to reveals the place, mobile manipulator is positioned the leak point then, realizes the shutoff of plugging device to the leak point; Autonomic positioning method of mobile manipulator comprises:
(1) mechanically moving hand control actuator car body moves to the autonomous position fixing process of revealing the place.This localization method is based on the navigator fix process of computer vision: used the technology of fuzzy control and neutral net, fuzzy control technology is applied in the car body navigation, realized path trace, adopted nerual network technique to carry out landmark identification.
In order to realize the navigation of mobile manipulator, laid red path in advance, from the image that video camera is taken, extract the path, be input in the fuzzy controller then, thereby realize the mobile manipulator path trace.The road sign image that extracts is discerned through being input in the neutral net after the normalization.Adopted the HSI technology in the leaching process of path and road sign, wherein tone represents that with H (hue) S (saturation) represents saturation degree, corresponding brightness of image of I (intensity) and gradation of image.
The process of FUZZY ALGORITHMS FOR CONTROL is: microcomputer obtains the exact value of controlled variable through sampling, then this amount and set-point are compared, obtain error signal E, generally choose the input quantity of error signal E as fuzzy controller, be error signal E fuzzy quantization fuzzy quantity then, the fuzzy quantity of error E can be represented with corresponding fuzzy language, has so far obtained a subclass (being actually a fuzzy vector) of the fuzzy language set of error E.Again by and fuzzy control rule (fuzzy relation) composition rule by inference carry out fuzzy decision, obtain the fuzzy control vector.Mobile manipulator path trace schematic diagram such as Fig. 2, shown in Figure 3.Fig. 2 is positioned at situation on the path just for mobile manipulator, the situation during Fig. 3 position deviation big for mobile manipulator has.
Take into account the stability and the response speed of mobile manipulator path following system, summarize 49 control laws, see the following form.Wherein, input quantity NB, NM, NS, ZE, PS, PM, PB represent negative big respectively, and be negative little in bearing, and zero, just little, center, honest (angle), controlled quentity controlled variable LVB, LB, LM, LS, NA, RS, RM, RB, RVB represent respectively and turn left very greatly, and it is big to turn left, and in turning left, it is little to turn left, direction is constant, and it is little to turn right, and in turning right, it is big to turn right, and it is very big to turn right.
Fuzzy control rule table
The road sign figure that is partitioned into is at first wanted the place to go noise spot, adjusts gradient, is input to after the normalized in BP (BackPropagation) neutral net and discerns.Identifying as shown in Figure 4.
(2) mechanically moving hand control actuator realizes that plugging device is to the accurately autonomous position fixing process in leak point, with embodiment 1.
Claims (5)
1. mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method, after supervising device is received on-the-spot detecting sensor leakage signal, determine to reveal the position, mobile manipulator is according to the leakage plugging scheme, the control car body moves to reveals the place, mobile manipulator is positioned the leak point then, realizes the shutoff of plugging device to the leak point; It is characterized in that autonomic positioning method of mobile manipulator comprises:
(1) mechanically moving hand control actuator car body moves to the autonomous position fixing process of revealing the place, adopts based on the navigator fix process of photoelectric sensor or based on the navigator fix process of computer vision
Navigator fix process based on photoelectric sensor: lay color path and road sign in advance, mobile manipulator is by path color sensor, landmark sensor identification path and road sign, and the control car body arrives assigned address;
Navigator fix process based on computer vision: lay color path and road sign in advance, mobile manipulator extracts color path from the image that video camera is taken, and the control car body carries out path trace, the road sign image that extracts is handled arriving assigned address.
(2) mechanically moving hand control actuator realizes that plugging device to the accurately autonomous position fixing process in leak point, adopts the position fixing process based on computer vision
Position fixing process based on computer vision: after the mobile manipulator car body arrives the leakage region of appointment, car body stops and adjusting the car body attitude according to mark information, then by being arranged on the sonac measuring distance on the manipulator, obtain leak point two dimensional surface positional information by camera, realize the location of leak point.
2. mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method according to claim 1, it is characterized in that: based on the path color sensor in the navigator fix process of photoelectric sensor is two groups, knowledge is debated in the path, when the manipulator car body is walked outlet, change color causes that sensor I/O output quantity changes, the controller change detected is rectified a deviation, and finishes and patrols mark.
3. mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method according to claim 1, it is characterized in that: based on the road sign in the navigator fix process of photoelectric sensor is bar code, pattern or numeral, when robot movement arrives road sign, landmark sensor scanning road sign, simultaneously content is passed to controller, controller is resolved content and is determined the position, and makes corresponding actions.
4. mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method according to claim 1 is characterized in that: laying color path in the navigator fix process based on computer vision in advance is red path.
5. mobile manipulator used for repairing leakages of dangerous chemicals container autonomic positioning method according to claim 1, it is characterized in that: mechanically moving hand control actuator is realized aiming in the autonomous position fixing process of leak point employing based on computer vision, arrange circle marker at the position that takes place easily to leak, the position of the starting point of actuator by the center of circle of circle marker being determined obtain the plugging device spray gun.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101295016B (en) * | 2008-06-13 | 2011-04-27 | 河北工业大学 | Sound source independent searching and locating method |
| CN102052921A (en) * | 2010-11-19 | 2011-05-11 | 哈尔滨工程大学 | Method for determining initial heading of single-axis rotating strapdown inertial navigation system |
-
2005
- 2005-08-04 CN CN 200510014707 patent/CN1730249A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101295016B (en) * | 2008-06-13 | 2011-04-27 | 河北工业大学 | Sound source independent searching and locating method |
| CN102052921A (en) * | 2010-11-19 | 2011-05-11 | 哈尔滨工程大学 | Method for determining initial heading of single-axis rotating strapdown inertial navigation system |
| CN102052921B (en) * | 2010-11-19 | 2012-08-22 | 哈尔滨工程大学 | Method for determining initial heading of single-axis rotating strapdown inertial navigation system |
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