技术领域Technical Field
本发明涉及检测机器人技术领域，具体为在线检测机器人的调节控制系统。The invention relates to the technical field of detection robots, in particular to an adjustment and control system of an online detection robot.
背景技术Background technique
机器人是一种能够半自主或全自主工作的智能机器；机器人能够通过编程和自动控制来执行诸如作业或移动等任务，在一些工件生产线内，需采用对应的在线检测机器人对工件进行检测，以此识别此工件是否符合下放标准。A robot is an intelligent machine that can work semi-autonomously or fully autonomously; a robot can perform tasks such as operation or movement through programming and automatic control. In some workpiece production lines, corresponding online inspection robots are required to inspect the workpieces to identify whether the workpiece meets the release standards.
专利公开号为CN108762257A的申请公开了一种基于摩擦力自适应调节的机器人行走控制系统，涉及机器人智能调节控制系统领域。本发明中：功率输出监测单元通过数据信息/信号传输模块与主处理控制单元相联；行走位移监测单元通过数据信息/信号传输模块与主处理控制单元相联；主处理控制单元通过信息/信号传输方式与摩擦调节控制单元相联。本发明通过功率输出监测方式，对机器人行走过程中的动力输出数据信息进行监测；通过行走位移监测方式，对机器人的实时行走位移进行传感监测，并通过主处理控制单元对机器人所处的地表状态进行分析，通过摩擦调节控制单元对机器人的行走接触材料面进行转动改变，从而改变机器人与行走面之间的摩擦力，进而提升机器人的行走效率。The patent application with the publication number CN108762257A discloses a robot walking control system based on adaptive friction adjustment, which relates to the field of robot intelligent adjustment control systems. In the present invention: the power output monitoring unit is connected to the main processing control unit through a data information/signal transmission module; the walking displacement monitoring unit is connected to the main processing control unit through a data information/signal transmission module; the main processing control unit is connected to the friction adjustment control unit through information/signal transmission. The present invention monitors the power output data information during the robot's walking process through a power output monitoring method; the real-time walking displacement of the robot is sensed and monitored through a walking displacement monitoring method, and the surface state of the robot is analyzed through the main processing control unit, and the walking contact material surface of the robot is rotated and changed through the friction adjustment control unit, thereby changing the friction between the robot and the walking surface, thereby improving the walking efficiency of the robot.
随着时代的发展，机器人已经逐步智能化且功能更加齐全，针对于工件检测生产线内，智能机器人需进行初步识别，判定检测表面是否异常，后续再通过所分析的参数，对调节件进行调节控制，使检测件对异常表面进行检测，因原始点以及检测点的具体位置不同，需进行路线规划，但在路线规划过程中，并未根据识别距离确定一组最佳的路径规划路线，导致机器人在移动过程中，并不能进行检测，需到达指定点后才可进行检测，其检测并不全面从而影响后续的检测效果。With the development of the times, robots have gradually become intelligent and have more complete functions. For workpiece inspection production lines, intelligent robots need to perform preliminary identification to determine whether the inspection surface is abnormal. Subsequently, the adjustment parts are adjusted and controlled through the analyzed parameters to enable the inspection parts to detect the abnormal surface. Due to the different specific positions of the original point and the inspection point, route planning is required. However, in the route planning process, a set of optimal path planning routes is not determined based on the identification distance, resulting in the robot being unable to perform inspection during movement. It must reach the designated point before it can perform inspection. Its inspection is not comprehensive, which affects the subsequent inspection results.
发明内容Summary of the invention
针对现有技术的不足，本发明提供了在线检测机器人的调节控制系统，解决了未根据识别距离确定一组最佳的路径规划路线，导致机器人在移动过程中，并不能进行检测的问题。In view of the deficiencies in the prior art, the present invention provides an adjustment and control system for an online detection robot, which solves the problem that a set of optimal path planning routes are not determined according to the identification distance, resulting in the robot being unable to perform detection during movement.
为实现以上目的，本发明通过以下技术方案予以实现：在线检测机器人的调节控制系统，包括：To achieve the above objectives, the present invention is implemented through the following technical solutions: an adjustment and control system for an online detection robot, comprising:
检测面获取端，对在线检测机器人正常检测工件的待检测表面进行获取并同时确认检测工件的工件编号，并将所获取的若干个待检测表面传输至异常区域锁定端内；The detection surface acquisition end acquires the surface to be detected of the workpiece normally detected by the online detection robot and confirms the workpiece number of the detected workpiece at the same time, and transmits the acquired surfaces to be detected to the abnormal area locking end;
数据库，内部包括有若干个不同检测工件的标准面数据包，其标准面数据包内部的标准面均由操作人员提前存储，根据个人经验确定不同检测工件的标准面；The database includes a number of standard surface data packages of different inspection workpieces. The standard surfaces in the standard surface data packages are stored in advance by the operator, who determines the standard surfaces of different inspection workpieces based on personal experience;
异常区域锁定端，对所获取的若干个待检测表面进行接收，再根据工件编号，从数据库内提取对应检测工件的标准面数据包，将待检测表面与标准面数据包内部的对应标准面进行一一比对，确定比对异常面，若比对相似度≤95％，则将此待检测表面标定为比对异常面，若比对相似度＞95％，则不进行任何处理，再判定此比对异常面属于归整面或不归整面，具体方式为：The abnormal area locking end receives the acquired several surfaces to be detected, and then extracts the standard surface data package of the corresponding detected workpiece from the database according to the workpiece number, compares the surface to be detected with the corresponding standard surface in the standard surface data package one by one, and determines the abnormal comparison surface. If the comparison similarity is ≤95%, the surface to be detected is marked as the abnormal comparison surface. If the comparison similarity is greater than 95%, no processing is performed, and then the abnormal comparison surface is determined to be a normalized surface or a non-normalized surface. The specific method is as follows:
随后判定比对异常面是否为归整面，若为归整面，则将此比对异常面传输至归整面处理端内，若不为归整面，则将此比对异常面传输至不归整面处理端内，判定方式为：Then, it is determined whether the abnormal comparison surface is a normalized surface. If it is a normalized surface, the abnormal comparison surface is transmitted to the normalized surface processing end. If it is not a normalized surface, the abnormal comparison surface is transmitted to the non-normalized surface processing end. The determination method is:
对比对异常面表面内所存在的最高凸点进行确定，再对比对异常面表面内所存在的最低点位进行确定，锁定最高凸点与最低点位之间的水平距离SJ，并判定水平距离SJ是否满足：SJ≥Y1，其中Y1为预设值，若满足，则将此比对异常面表面标定为不归整面，并传输至不归整面处理端内，若不满足，则将此比对异常面表面标定为归整面，并传输至归整面处理端内；Determine the highest convex point existing in the abnormal surface by comparison, and then determine the lowest point existing in the abnormal surface by comparison, lock the horizontal distance SJ between the highest convex point and the lowest point, and determine whether the horizontal distance SJ satisfies: SJ≥Y1, where Y1 is a preset value. If it satisfies, the surface of the abnormal surface of the comparison is marked as an unnormalized surface and transmitted to the unnormalized surface processing end. If it does not satisfy, the surface of the abnormal surface of the comparison is marked as a normalized surface and transmitted to the normalized surface processing end.
归整面处理端，对标定为归整面的比对异常面进行分析，直接确定此比对异常面的中心点，将此中心点标定为待移动点，方式为：The normalization surface processing end analyzes the abnormal comparison surface marked as the normalization surface, directly determines the center point of the abnormal comparison surface, and marks the center point as the point to be moved in the following way:
并将此中心点向一侧进行平移，确定平移点，将此平移点标定为待移动点，其中平移距离为X1m，其中X1为预设值；The center point is translated to one side to determine the translation point, and the translation point is marked as the point to be moved, wherein the translation distance is X1m, wherein X1 is a preset value;
其中，平移的方向与归整面表面相互垂直，将所确定的待移动点传输至路径规划分析端内；The direction of translation is perpendicular to the surface of the normalized surface, and the determined points to be moved are transmitted to the path planning analysis end;
不归整面处理端，对标定为不归整面的比对异常面进行分析，将比对异常面进行比例缩小，确定外部圆圈，从外部圆圈内选定最高点以及最低点，随后，再确定此比对异常面的中心点，以最低点-中心点-最高点的运动轨迹确定检测路线，并将最低点标定为待移动点，具体方式为：At the non-integrated surface processing end, the comparison abnormal surface marked as the non-integrated surface is analyzed, the comparison abnormal surface is scaled down, the outer circle is determined, the highest point and the lowest point are selected from the outer circle, and then the center point of the comparison abnormal surface is determined. The detection route is determined by the motion trajectory of the lowest point-center point-highest point, and the lowest point is marked as the point to be moved. The specific method is as follows:
根据所确定的比对异常面，直接确定此比对异常面的中心点，再将此比对异常面进行等比例缩小90％，确定缩小面，将缩小面的中心点与比对异常面的中心点进行重合，将缩小面与比对异常面之间未相交的区域标定为外围区域；According to the determined comparison anomaly surface, directly determine the center point of the comparison anomaly surface, then proportionally reduce the comparison anomaly surface by 90%, determine the reduced surface, overlap the center point of the reduced surface with the center point of the comparison anomaly surface, and mark the non-intersecting area between the reduced surface and the comparison anomaly surface as the peripheral area;
对外围区域内所存在的最高点以及最低点进行确认，再根据所确认的中心点，将三组点位向一侧进行平移，确定平移点，其中平移距离为X1m，其中X1为预设值，再按照平移后的“最低点-中心点-最高点”的路径走向确定检测路线，并将此平移后的最低点标定为待移动点位，并将所标定的待移动点位传输至路径规划分析端内，将检测路线传输至控制终端内；Confirm the highest point and the lowest point in the peripheral area, and then translate the three groups of points to one side according to the confirmed center point to determine the translation point, where the translation distance is X1m, where X1 is the preset value, and then determine the detection route according to the path direction of "lowest point-center point-highest point" after translation, and mark the lowest point after translation as the point to be moved, and transmit the marked point to be moved to the path planning analysis terminal, and transmit the detection route to the control terminal;
路径规划分析端，确定此检测机器人检测件的初始原始点位，再根据所接收的待移动点位，进行移动路径规划，并确定最佳规划路线，具体方式为：The path planning and analysis end determines the initial original position of the inspection robot's inspection object, and then plans the movement path based on the received position to be moved, and determines the best planned route. The specific method is as follows:
将原始点位与待移动点位进行相连，确定一组连接线，再通过此连接线构建一组等腰三角形，从等腰三角形的顶角内确定中心垂线；Connect the original point with the point to be moved, determine a set of connecting lines, then construct a set of isosceles triangles through the connecting lines, and determine the central vertical line from the vertex of the isosceles triangle;
根据中心垂线，确认若干组行走曲线，其行走曲线的两个端点分别为原始点位和待移动点位，且行走曲线基于中心垂线相互镜像；According to the central vertical line, several groups of walking curves are determined, the two end points of the walking curves are the original point and the point to be moved, and the walking curves are mirror images of each other based on the central vertical line;
从若干个行走曲线内，确定不同行走曲线与中心垂线的交点，根据此交点，确定与此比对异常面的最近距离以及最远距离，并将其标定为：[J imin，J imax]，其中J imin为最近距离，J imax为最远距离，其中i代表不同的行走曲线，再将若干个区间[J imin，Jimax]与标准距离区间进行交叉比对处理，确定交叉区域，其中标准距离区间为预设区间，将存在最大交叉区域的行走曲线标定为最佳规划路线，最大交叉区域为此区域内两个端点值相差最大，判定最佳规划路线是否与工件交叉，若交叉，则剔除此行走曲线，重新选定最佳规划路线，若未交叉，则直接将所选定的最佳规划路线传输至控制终端内。From several walking curves, determine the intersection of different walking curves and the central vertical line. According to this intersection, determine the closest distance and the farthest distance to the abnormal surface of the comparison, and calibrate them as: [J imin, Jimax], where Jimin is the closest distance, Jimax is the farthest distance, and i represents different walking curves. Then, cross-comparison processing is performed on several intervals [J imin, Jimax] and the standard distance interval to determine the intersection area, where the standard distance interval is a preset interval. The walking curve with the largest intersection area is calibrated as the best planned route. The maximum intersection area is the area with the largest difference between the two endpoint values. Determine whether the best planned route intersects with the workpiece. If so, remove this walking curve and reselect the best planned route. If not, directly transmit the selected best planned route to the control terminal.
优选的，还包括控制终端，根据所确定的最佳规划路线，将在线检测机器人的检测件从原始点位移动至待移动点位，按照最佳规划路线进行行走，到达待移动点位后，判定此阶段是否存在检测路线，若存在，则按照检测路线的路线规划进行行走，进行表面检测，若不存在，则在待移动点位处，进行表面监测。Preferably, it also includes a control terminal, which moves the inspection part of the online inspection robot from the original point to the point to be moved according to the determined optimal planned route, walks according to the optimal planned route, and after arriving at the point to be moved, determines whether there is an inspection route at this stage. If so, walks according to the route planning of the inspection route and performs surface inspection. If not, surface monitoring is performed at the point to be moved.
本发明提供了在线检测机器人的调节控制系统。与现有技术相比具备以下有益效果：The present invention provides an adjustment and control system for an online detection robot. Compared with the prior art, it has the following beneficial effects:
本发明通过对工件进行初识别检测，将存在异常的平面进行标定，随后将标定的平面判定为归整面或不归整面，针对于归整面，则直接通过确定中心点的方式确定待移动点，针对于不归整面，则直接通过确定中心点以及边缘轮廓的方式，确定检测路线并确定对应的待移动点，采用此种方式，针对于不同的平面，采用不同的方式进行处理，其处理方式更为全面，同时确定检测路线，确保后期检测机器人的表面检测全面度；The present invention performs initial identification and detection on the workpiece, calibrates the plane with abnormalities, and then determines the calibrated plane as a normalized plane or an unnormalized plane. For the normalized plane, the point to be moved is directly determined by determining the center point. For the unnormalized plane, the detection route and the corresponding point to be moved are directly determined by determining the center point and the edge contour. In this way, different planes are processed in different ways, and the processing method is more comprehensive. At the same time, the detection route is determined to ensure the comprehensiveness of the surface detection of the later detection robot.
再根据原始点位以及对应的待移动点，确定对应的行走曲线，并从若干个行走曲线，选定最佳规划路线，便能选取一个最佳的移动轨迹，在移动过程中，可对异常面进行充分检测，随后，再按照检测路线进行检测，此种检测方式，更为全面，能达到的检测效果更好，更能确保检测过程中的精准度。Then, according to the original point and the corresponding point to be moved, the corresponding walking curve is determined, and the best planned route is selected from several walking curves, so that an optimal moving trajectory can be selected. During the movement, the abnormal surface can be fully detected, and then the detection is carried out according to the detection route. This detection method is more comprehensive, can achieve better detection effects, and can better ensure the accuracy of the detection process.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明原理框架示意图；Fig. 1 is a schematic diagram of the principle framework of the present invention;
图2为本发明异常面路线规划示意图。FIG. 2 is a schematic diagram of abnormal surface route planning according to the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
实施例一Embodiment 1
请参阅图1，本申请提供了在线检测机器人的调节控制系统，包括数据库、检测面获取端、异常区域锁定端、归整面处理端、不规整面处理端、路径规划分析端以及控制终端；Please refer to FIG1 , the present application provides a regulation and control system for an online detection robot, including a database, a detection surface acquisition terminal, an abnormal area locking terminal, a normalized surface processing terminal, an irregular surface processing terminal, a path planning and analysis terminal, and a control terminal;
其中检测面获取端以及数据库均与异常区域锁定端输入节点电性连接，所述异常区域锁定端分别与归整面处理端以及不规整面处理端输入节点电性连接，所述归整面处理端以及不归整面处理端均与路径规划分析端输入节点电性连接，其中路径规划分析端将所规划的标准路径传输至控制终端内；The detection surface acquisition end and the database are both electrically connected to the abnormal area locking end input node, the abnormal area locking end is electrically connected to the normalized surface processing end and the irregular surface processing end input node respectively, the normalized surface processing end and the irregular surface processing end are both electrically connected to the path planning analysis end input node, wherein the path planning analysis end transmits the planned standard path to the control terminal;
其中检测面获取端，对在线检测机器人正常检测工件的待检测表面进行获取并同时确认检测工件的工件编号，并将所获取的若干个待检测表面传输至异常区域锁定端内，其中待检测表面包括除底座以外的若干个工件表面，因画面的获取方式为现有技术，故此处不作过多赘述；The detection surface acquisition end acquires the surface to be detected of the workpiece normally detected by the online detection robot and confirms the workpiece number of the detected workpiece at the same time, and transmits the acquired surfaces to be detected to the abnormal area locking end, wherein the surfaces to be detected include several workpiece surfaces except the base. Since the image acquisition method is an existing technology, it will not be described in detail here;
数据库，内部包括有若干个不同检测工件的标准面数据包，其标准面数据包内部的标准面均由操作人员提前存储，根据个人经验确定不同检测工件的标准面，后续使用此标准面作为核对标准；The database includes several standard surface data packages of different inspection workpieces. The standard surfaces in the standard surface data packages are stored in advance by the operator. The operator determines the standard surfaces of different inspection workpieces based on personal experience, and uses this standard surface as a verification standard later;
其中异常区域锁定端，对所获取的若干个待检测表面进行接收，再根据工件编号，从数据库内提取对应检测工件的标准面数据包，将待检测表面与标准面数据包内部的对应标准面进行一一比对，若比对相似度≤95％，则将此待检测表面标定为比对异常面，若比对相似度＞95％，则不进行任何处理，具体的，两组画面进行比对，会产生相似度，因此处为现有技术中常用的画面比对方式，故此处不作过多赘述；The abnormal area locking end receives the acquired several surfaces to be detected, and then extracts the standard surface data package of the corresponding detected workpiece from the database according to the workpiece number, and compares the surface to be detected with the corresponding standard surface in the standard surface data package one by one. If the comparison similarity is ≤95%, the surface to be detected is marked as the comparison abnormal surface. If the comparison similarity is greater than 95%, no processing is performed. Specifically, the two groups of pictures are compared to generate similarity, so this is a commonly used picture comparison method in the prior art, so it will not be described in detail here.
随后判定比对异常面是否为归整面，若为归整面，则将此比对异常面传输至归整面处理端内，若不为归整面，则将此比对异常面传输至不归整面处理端内，判定方式为：Then, it is determined whether the abnormal comparison surface is a normalized surface. If it is a normalized surface, the abnormal comparison surface is transmitted to the normalized surface processing end. If it is not a normalized surface, the abnormal comparison surface is transmitted to the non-normalized surface processing end. The determination method is:
对比对异常面表面内所存在的最高凸点进行确定，再对比对异常面表面内所存在的最低点位进行确定，锁定最高凸点与最低点位之间的水平距离SJ，并判定水平距离SJ是否满足：SJ≥Y1，其中Y1为预设值，其具体取值由操作人员根据经验拟定，若满足，则将此比对异常面表面标定为不归整面，并传输至不归整面处理端内，若不满足，则将此比对异常面表面标定为归整面，并传输至归整面处理端内；Determine the highest convex point existing in the abnormal surface by comparison, and then determine the lowest point existing in the abnormal surface by comparison, lock the horizontal distance SJ between the highest convex point and the lowest point, and determine whether the horizontal distance SJ satisfies: SJ ≥ Y1, where Y1 is a preset value, and its specific value is determined by the operator based on experience. If it satisfies, the surface of the abnormal surface of the comparison is marked as an unnormalized surface and transmitted to the unnormalized surface processing end. If it does not satisfy, the surface of the abnormal surface of the comparison is marked as a normalized surface and transmitted to the normalized surface processing end.
具体的，对应的工件表面存在异常时，要么就是尺寸存在不一致的情况，要么就是表面存在瑕疵，存在瑕疵便就是不归整的情况，由于尺寸参数导致异常时，便代表此工件表面就是对应的归整面，针对于存在异常的表面，就需要对在线检测机器人进行调节控制，从而对异常的表面进行再次检测，确保检测数据的全面性。Specifically, when there is an abnormality on the corresponding workpiece surface, either the size is inconsistent or there are defects on the surface. The existence of defects means that the workpiece is not integrated. When the abnormality is caused by the size parameters, it means that the surface of the workpiece is the corresponding integrated surface. For the surface with abnormalities, it is necessary to adjust and control the online inspection robot so as to re-inspect the abnormal surface to ensure the comprehensiveness of the inspection data.
所述归整面处理端，对标定为归整面的比对异常面进行分析，直接确定此比对异常面的中心点，将此中心点标定为待移动点，因确定画面中心点为常规技术手段，故此处不作过多赘述；The normalized surface processing end analyzes the abnormal surface marked as the normalized surface, directly determines the center point of the abnormal surface, and marks the center point as the point to be moved. Since determining the center point of the picture is a conventional technical means, it will not be described in detail here.
具体方式为：The specific method is:
并将此中心点向一侧进行平移，确定平移点，将此平移点标定为待移动点，其中平移距离为X1m，其中X1为预设值，其具体取值由操作人员根据经验拟定；The center point is translated to one side to determine the translation point, and the translation point is marked as the point to be moved, wherein the translation distance is X1m, wherein X1 is a preset value, and its specific value is determined by the operator based on experience;
其中，平移的方向与归整面表面相互垂直，将所确定的待移动点传输至路径规划分析端内；The direction of translation is perpendicular to the surface of the normalized surface, and the determined points to be moved are transmitted to the path planning analysis end;
具体的，针对于归整的平面，因表面为存在瑕疵或者凹凸不同的区域，故可以直接确定对应的中心点，再根据所确定的中心点，锁定对应的待移动点，对应的检测机器人到达此待移动点三维坐标时，便可对整个归整面进行表面检测处理。Specifically, for the sorted plane, since the surface is an area with defects or different bumps, the corresponding center point can be directly determined, and then the corresponding point to be moved can be locked based on the determined center point. When the corresponding inspection robot reaches the three-dimensional coordinates of the point to be moved, the entire sorted surface can be inspected.
所述不归整面处理端，对标定为不归整面的比对异常面进行分析，将比对异常面进行比例缩小，确定外部圆圈，从外部圆圈内选定最高点以及最低点，随后，再确定此比对异常面的中心点，以最低点-中心点-最高点的运动轨迹确定检测路线，并将最低点标定为待移动点，其中，确定检测路线的具体方式为：The non-integrated surface processing end analyzes the comparison abnormal surface marked as the non-integrated surface, scales down the comparison abnormal surface, determines an outer circle, selects the highest point and the lowest point from the outer circle, and then determines the center point of the comparison abnormal surface, determines the detection route with the motion trajectory of the lowest point-the center point-the highest point, and marks the lowest point as the point to be moved, wherein the specific method of determining the detection route is:
根据所确定的比对异常面，直接确定此比对异常面的中心点，再将此比对异常面进行等比例缩小90％，确定缩小面，将缩小面的中心点与比对异常面的中心点进行重合，将缩小面与比对异常面之间未相交的区域标定为外围区域，两个面，假设均为正方形面，均存在对应的中心点，一个正方形面是另一个正方形面的90％，其中，两个正方形面之间存在间隔区域，便就是周边区域，其周边区域未相交，为了异常面的检测全面度较高，故通过周边区域确定路线，因画面内存在若干个最高点以及最低点，若通过确定最高点以及最低点的方式，其规划的路线可能较短，故确定外围区域的最高点以及最低点，便能得到较好的检测路线；According to the determined comparison abnormal surface, directly determine the center point of the comparison abnormal surface, then proportionally reduce the comparison abnormal surface by 90%, determine the reduced surface, overlap the center point of the reduced surface with the center point of the comparison abnormal surface, and mark the non-intersecting area between the reduced surface and the comparison abnormal surface as the peripheral area. The two surfaces, assuming that they are both square surfaces, have corresponding center points. One square surface is 90% of the other square surface. There is a spacing area between the two square surfaces, which is the peripheral area. The peripheral areas do not intersect. In order to make the detection of the abnormal surface more comprehensive, the route is determined by the peripheral area. Because there are several highest points and lowest points in the picture, if the highest point and the lowest point are determined, the planned route may be shorter, so the highest point and the lowest point of the peripheral area are determined to obtain a better detection route;
对外围区域内所存在的最高点以及最低点进行确认，再根据所确认的中心点，将三组点位向一侧进行平移，确定平移点，其中平移距离为X1m，其中X1为预设值，再按照平移后的“最低点-中心点-最高点”的路径走向确定检测路线，并将此平移后的最低点标定为待移动点位，并将所标定的待移动点位传输至路径规划分析端内，将检测路线传输至控制终端内。Confirm the highest point and the lowest point in the outer area, and then translate the three groups of points to one side according to the confirmed center point to determine the translation point, where the translation distance is X1m, where X1 is the preset value, and then determine the detection route according to the path direction of "lowest point-center point-highest point" after translation, and mark the lowest point after translation as the point to be moved, and transmit the marked point to be moved to the path planning analysis terminal, and transmit the detection route to the control terminal.
实施例二Embodiment 2
结合图2，所述路径规划分析端，确定此检测机器人检测件的初始原始点位，再根据所接收的待移动点位，进行移动路径规划，并确定最佳规划路线，并将此最佳规划路线传输至控制终端内，其中确定最佳规划路线的具体方式为：In conjunction with FIG2 , the path planning and analysis end determines the initial original position of the detection robot detection part, and then performs mobile path planning according to the received position to be moved, and determines the best planned route, and transmits the best planned route to the control terminal, wherein the specific method of determining the best planned route is:
将原始点位与待移动点位进行相连，确定一组连接线，再通过此连接线构建一组等腰三角形，从等腰三角形的顶角内确定中心垂线；Connect the original point with the point to be moved, determine a set of connecting lines, then construct a set of isosceles triangles through the connecting lines, and determine the central vertical line from the vertex of the isosceles triangle;
根据中心垂线，确认若干组行走曲线，其行走曲线的两个端点分别为原始点位和待移动点位，且行走曲线基于中心垂线相互镜像；According to the central vertical line, several groups of walking curves are determined, the two end points of the walking curves are the original point and the point to be moved, and the walking curves are mirror images of each other based on the central vertical line;
从若干个行走曲线内，确定不同行走曲线与中心垂线的交点，根据此交点，确定与此比对异常面的最近距离以及最远距离，并将其标定为：[J imin，J imax]，其中J imin为最近距离，J imax为最远距离，其中i代表不同的行走曲线，再将若干个区间[J imin，Jimax]与标准距离区间进行交叉比对处理，确定交叉区域，其中标准距离区间为预设区间，为对应检测机器人检测的最佳距离区间，将存在最大交叉区域的行走曲线标定为最佳规划路线，最大交叉区域为此区域内两个端点值相差最大，判定最佳规划路线是否与工件交叉，若交叉，则剔除此行走曲线，重新选定最佳规划路线，若未交叉，则直接将所选定的最佳规划路线传输至控制终端内；From several walking curves, determine the intersection of different walking curves and the central vertical line. According to the intersection, determine the closest distance and the farthest distance to the abnormal surface of the comparison, and calibrate them as: [J imin, Jimax], where Jimin is the closest distance, Jimax is the farthest distance, and i represents different walking curves. Then, cross-comparison processing is performed on several intervals [J imin, Jimax] and standard distance intervals to determine the intersection area, where the standard distance interval is a preset interval, which is the optimal distance interval detected by the corresponding detection robot. The walking curve with the largest intersection area is calibrated as the best planned route. The maximum intersection area is the area where the difference between the two endpoint values is the largest. Determine whether the best planned route intersects with the workpiece. If it intersects, then remove this walking curve and reselect the best planned route. If it does not intersect, then directly transmit the selected best planned route to the control terminal.
具体的，一般的标准距离区间选取[30，50]，若存在三组行走曲线，其中交点与异常面之间的距离最小值以及最大值所构建的区间分别为：[30，35]，[30，40]，[30，45]，那么交叉区域最大的区间属于[30，45]，那么此行走曲线就是最佳规划路线；Specifically, the general standard distance interval is [30, 50]. If there are three groups of walking curves, the intervals constructed by the minimum and maximum distances between the intersection point and the abnormal surface are [30, 35], [30, 40], and [30, 45] respectively. Then the interval with the largest intersection area belongs to [30, 45]. Then this walking curve is the best planned route.
因端面本身就存在异常，难免存在不规则的情况，若所选取的行走曲线为最佳路线，但却在实际行走过程中，会与工件之间发生碰撞，那么其行走曲线便不可取，需重新确定行走曲线，则需要向外部进行扩散，依次进行选取确认，从而锁定最佳的行走曲线，其中，现有的检测机器人在进行行走检测过程中，已经达到曲线行走的检测方式以及高度，故此处不作过多赘述；Because the end surface itself has abnormalities, it is inevitable that there are irregularities. If the selected walking curve is the best route, but it will collide with the workpiece during the actual walking process, then the walking curve is not desirable, and the walking curve needs to be re-determined. It is necessary to diffuse to the outside, select and confirm in turn, so as to lock the best walking curve. Among them, the existing inspection robot has reached the detection method and height of curve walking during the walking inspection process, so it will not be described in detail here;
首先，因工件的对应异常面存在异常，对应的检测机器人在移动时，若能选取一个最佳的移动轨迹，在移动过程中，可对异常面进行充分检测，随后，再按照检测路线进行检测，此种检测方式，更为全面，能达到的检测效果更好，更能确保检测过程中的精准度。First of all, due to the abnormality of the corresponding abnormal surface of the workpiece, if the corresponding inspection robot can select an optimal moving trajectory when moving, the abnormal surface can be fully inspected during the movement, and then the inspection can be carried out according to the inspection route. This inspection method is more comprehensive, can achieve better inspection results, and can better ensure the accuracy of the inspection process.
所述控制终端，根据所确定的最佳规划路线，将在线检测机器人的检测件从原始点位移动至待移动点位，按照最佳规划路线进行行走，到达待移动点位后，判定此阶段是否存在检测路线，若存在，则按照检测路线的路线规划进行行走，进行表面检测，若不存在，则在待移动点位处，进行表面监测。The control terminal moves the inspection part of the online inspection robot from the original point to the point to be moved according to the determined optimal planned route, walks according to the optimal planned route, and after arriving at the point to be moved, determines whether there is an inspection route at this stage. If so, walks according to the route planning of the inspection route and performs surface inspection. If not, surface monitoring is performed at the point to be moved.
上述公式中的部分数据均是去其纲量进行数值计算，同时本说明书中未作详细描述的内容均属于本领域技术人员公知的现有技术。Some of the data in the above formulas are dimensionless and numerically calculated. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.
以上实施例仅用以说明本发明的技术方法而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方法进行修改或等同替换，而不脱离本发明技术方法的精神和范围。The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410453644.XACN118192600B (en) | 2024-04-16 | 2024-04-16 | Adjustment and control system of online inspection robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410453644.XACN118192600B (en) | 2024-04-16 | 2024-04-16 | Adjustment and control system of online inspection robot |
| Publication Number | Publication Date |
|---|---|
| CN118192600Atrue CN118192600A (en) | 2024-06-14 |
| CN118192600B CN118192600B (en) | 2024-11-29 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410453644.XAActiveCN118192600B (en) | 2024-04-16 | 2024-04-16 | Adjustment and control system of online inspection robot |
| Country | Link |
|---|---|
| CN (1) | CN118192600B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200333259A1 (en)* | 2018-01-05 | 2020-10-22 | Tiama | Method, device and inspection line for determining the three-dimensional geometry of a container ring surface |
| US20210148091A1 (en)* | 2017-12-14 | 2021-05-20 | Komatsu Ltd. | Control system for work machine, method, and work machine |
| CN113311833A (en)* | 2021-05-20 | 2021-08-27 | 江苏图知天下科技有限公司 | Prefabricated slab surface folding method and device based on robot |
| CN113970551A (en)* | 2021-09-07 | 2022-01-25 | 深圳市倍捷锐生物医学科技有限公司 | Material surface quality detection method and system and storage device |
| CN117173171A (en)* | 2023-11-02 | 2023-12-05 | 深圳市蓝钛科技有限公司 | Material surface detection method, device and system based on image processing |
| CN117309766A (en)* | 2023-10-20 | 2023-12-29 | 苏州宣雄智能科技有限公司 | Visual detection method and system for product surface defects |
| CN117433455A (en)* | 2022-07-15 | 2024-01-23 | 华为技术有限公司 | Appearance inspection device, method for determining appearance inspection position, and appearance inspection method |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210148091A1 (en)* | 2017-12-14 | 2021-05-20 | Komatsu Ltd. | Control system for work machine, method, and work machine |
| US20200333259A1 (en)* | 2018-01-05 | 2020-10-22 | Tiama | Method, device and inspection line for determining the three-dimensional geometry of a container ring surface |
| CN113311833A (en)* | 2021-05-20 | 2021-08-27 | 江苏图知天下科技有限公司 | Prefabricated slab surface folding method and device based on robot |
| CN113970551A (en)* | 2021-09-07 | 2022-01-25 | 深圳市倍捷锐生物医学科技有限公司 | Material surface quality detection method and system and storage device |
| CN117433455A (en)* | 2022-07-15 | 2024-01-23 | 华为技术有限公司 | Appearance inspection device, method for determining appearance inspection position, and appearance inspection method |
| CN117309766A (en)* | 2023-10-20 | 2023-12-29 | 苏州宣雄智能科技有限公司 | Visual detection method and system for product surface defects |
| CN117173171A (en)* | 2023-11-02 | 2023-12-05 | 深圳市蓝钛科技有限公司 | Material surface detection method, device and system based on image processing |
| Publication number | Publication date |
|---|---|
| CN118192600B (en) | 2024-11-29 |
| Publication | Publication Date | Title |
|---|---|---|
| CN111097664B (en) | Real-time deviation rectifying method based on robot gluing | |
| WO2021103154A1 (en) | Robot control method for smart spray coating of multiple vehicle models | |
| CN115035120B (en) | Machine tool control method and system based on Internet of things | |
| CN118314138B (en) | Laser processing method and system based on machine vision | |
| CN111645111A (en) | Intelligent manufacturing system and method based on industrial robot | |
| CN110514664B (en) | A robot and method for positioning and detecting the yarn rod of a cheese yarn | |
| CN103231162A (en) | Device and method for visual detection of welding quality of robot | |
| CN113102297B (en) | Method for parallel robot to quickly sort defective workpieces | |
| CN114571326A (en) | Method, device and system for grinding deformed curved surface based on computer vision | |
| WO2024244186A1 (en) | Control method and system for welding seam adaptive positioning device | |
| CN115533893A (en) | Robot TCP calibration method using floatable standard sphere | |
| CN119141338B (en) | Automatic ceramic riving knife concentricity adjusting and grinding method based on machine vision | |
| CN115041887A (en) | Contour measuring and recognizing system for robot welding workpiece | |
| CN119387981A (en) | A welding path planning method based on machine vision | |
| CN118192600A (en) | Adjustment and control system of online inspection robot | |
| CN114782378A (en) | Method for constructing robot intelligent welding database for welding process of various components | |
| CN117548824B (en) | Laser remote welding method for optical precision measurement robot | |
| CN118540659A (en) | NFC-based intelligent inspection system for hydroelectric power plant | |
| CN116160452A (en) | Intelligent factory robot control method | |
| Davila et al. | A singleton type-1 fuzzy logic controller for on-line error compensation during robotic welding | |
| Yusen et al. | A method of welding path planning of steel mesh based on point cloud for welding robot | |
| CN115847398B (en) | Robot intelligent machining method and system based on region | |
| CN120572099B (en) | An adaptive control system for penetration depth of serpentine tube TIG welding | |
| CN118444648B (en) | Part processing robot collaborative management system based on Internet of things | |
| CN108421847A (en) | Curb girder detects benchmark aligning method and device |
| 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |