Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an adjusting control system of an online detection robot, which solves the problem that the robot cannot detect in the moving process because a group of optimal path planning routes are not determined according to the recognition distance.
In order to achieve the purpose, the invention is realized by the following technical scheme that the adjusting control system of the on-line detection robot comprises:
The detection surface acquisition end acquires the surfaces to be detected of the workpiece normally detected by the online detection robot, confirms the workpiece numbers of the detected workpiece at the same time, and transmits the acquired surfaces to be detected into the abnormal region locking end;
The database internally comprises a plurality of standard surface data packets of different detection workpieces, wherein the standard surfaces in the standard surface data packets are all stored in advance by operators, and the standard surfaces of the different detection workpieces are determined according to personal experience;
The abnormal region locking end is used for receiving the acquired plurality of surfaces to be detected, extracting a standard surface data packet corresponding to the detected workpiece from a database according to the number of the workpiece, comparing the surfaces to be detected with the corresponding standard surface in the standard surface data packet, determining to compare abnormal surfaces, calibrating the surfaces to be detected as the compared abnormal surfaces if the comparison similarity is less than or equal to 95%, and not performing any treatment if the comparison similarity is more than 95%, and judging whether the compared abnormal surfaces belong to the normalized surface or not normalized surface according to the specific mode:
Then, whether the comparison abnormal surface is a regular surface or not is judged, if the comparison abnormal surface is a regular surface, the comparison abnormal surface is transmitted to a regular surface processing end, and if the comparison abnormal surface is not a regular surface, the comparison abnormal surface is transmitted to a non-regular surface processing end, and the judgment mode is as follows:
Determining the highest salient points existing in the surface of the abnormal surface, determining the lowest point existing in the surface of the abnormal surface, locking the horizontal distance SJ between the highest salient points and the lowest point, and judging whether the horizontal distance SJ is more than or equal to Y1, wherein Y1 is a preset value, if yes, the surface of the compared abnormal surface is marked as an irregular surface and is transmitted to an irregular surface processing end, and if not, the surface of the compared abnormal surface is marked as an irregular surface and is transmitted to an irregular surface processing end;
The normalization surface processing end is used for analyzing the comparison abnormal surface calibrated as the normalization surface, directly determining the center point of the comparison abnormal surface, and calibrating the center point as a point to be moved in the following manner:
Translating the center point to one side, determining a translation point, and calibrating the translation point as a point to be moved, wherein the translation distance is X1m, and X1 is a preset value;
the translation direction is perpendicular to the surface of the normalization surface, and the determined point to be moved is transmitted to the path planning analysis end;
The non-normalization surface processing end analyzes the comparison abnormal surface calibrated as the non-normalization surface, reduces the comparison abnormal surface in proportion, determines an outer circle, selects the highest point and the lowest point from the outer circle, then determines the center point of the comparison abnormal surface, determines a detection route according to the motion trail of the lowest point, the center point and the highest point, and calibrates the lowest point as the point to be moved, wherein the specific method is as follows:
According to the determined comparison abnormal surface, directly determining the central point of the comparison abnormal surface, carrying out equal proportion reduction on the comparison abnormal surface by 90%, determining a reduced surface, overlapping the central point of the reduced surface with the central point of the comparison abnormal surface, and calibrating a non-intersected area between the reduced surface and the comparison abnormal surface as a peripheral area;
Confirming the highest point and the lowest point existing in the peripheral area, translating the three groups of points to one side according to the confirmed center point, determining translation points, wherein the translation distance is X1m, X1 is a preset value, determining a detection route according to the path trend of the translated lowest point, the center point and the highest point, calibrating the translated lowest point as a point to be moved, transmitting the calibrated point to be moved to a path planning analysis end, and transmitting the detection route to a control terminal;
The path planning analysis end determines an initial original point position of the detection part of the detection robot, then carries out moving path planning according to the received point position to be moved, and determines an optimal planning route, and the specific mode is as follows:
Connecting the original point position with the point position to be moved to determine a group of connecting lines, constructing a group of isosceles triangles through the connecting lines, and determining a center vertical line from the vertex angles of the isosceles triangles;
according to the center vertical line, a plurality of groups of walking curves are confirmed, two end points of the walking curves are respectively an original point position and a point position to be moved, and the walking curves are mirror images of each other based on the center vertical line;
Determining intersection points of different walking curves and a central vertical line from a plurality of walking curves, determining the closest distance and the farthest distance between the intersection points and the comparison abnormal surface according to the intersection points, and calibrating the intersection points as [ J imin, J imax ], wherein J imin is the closest distance, J imax is the farthest distance, i represents different walking curves, performing cross comparison processing on a plurality of intervals [ J imin, J imax ] and a standard distance interval to determine a cross area, wherein the standard distance interval is a preset interval, calibrating the walking curve with the largest cross area as an optimal planning route, judging whether the optimal planning route is crossed with a workpiece, eliminating the walking curve if the optimal planning route is crossed, reselecting the optimal planning route if the optimal planning route is not crossed, and directly transmitting the selected optimal planning route into a control terminal if the optimal planning route is not crossed.
Preferably, the method further comprises a control terminal, wherein the detection part of the online detection robot is moved from an original point position to a point position to be moved according to the determined optimal planning route, walking is performed according to the optimal planning route, after the detection part reaches the point position to be moved, whether the detection route exists at the stage is judged, if so, walking is performed according to the route planning of the detection route, surface detection is performed, and if not, surface monitoring is performed at the point position to be moved.
The invention provides an adjusting control system of an online detection robot. Compared with the prior art, the method has the following beneficial effects:
According to the method, the initial identification detection is carried out on the workpiece, the abnormal plane is calibrated, the calibrated plane is then judged to be the regular surface or the irregular surface, the point to be moved is directly determined by determining the center point for the regular surface, the detection route is directly determined by determining the center point and the edge contour for the irregular surface, the corresponding point to be moved is determined, and the different modes are adopted for different planes for processing, so that the processing mode is more comprehensive, the detection route is determined at the same time, and the surface detection comprehensiveness of the post detection robot is ensured;
And determining a corresponding walking curve according to the original point position and the corresponding point to be moved, selecting an optimal planning route from a plurality of walking curves, and selecting an optimal moving track, wherein in the moving process, the abnormal surface can be fully detected, and then, the abnormal surface is detected according to the detecting route.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, the application provides an adjustment control system of an online detection robot, which comprises a database, a detection surface acquisition end, an abnormal region locking end, an normalization surface processing end, an irregular surface processing end, a path planning analysis end and a control terminal;
The detection surface acquisition end and the database are electrically connected with an abnormal area locking end input node, the abnormal area locking end is electrically connected with a regular surface processing end and an irregular surface processing end input node respectively, the regular surface processing end and the irregular surface processing end are electrically connected with a path planning analysis end input node, and the path planning analysis end transmits a planned standard path into the control terminal;
the detection surface acquisition end acquires the surface to be detected of the workpiece normally detected by the online detection robot, confirms the workpiece number of the detected workpiece at the same time, and transmits the acquired surfaces to be detected into the abnormal region locking end, wherein the surfaces to be detected comprise the surfaces of the workpiece except the base, and the image acquisition mode is the prior art, so that redundant description is omitted herein;
the database internally comprises a plurality of standard surface data packets of different detection workpieces, the standard surfaces in the standard surface data packets are all stored in advance by operators, the standard surfaces of the different detection workpieces are determined according to personal experience, and the standard surfaces are used as check standards subsequently;
The abnormal area locking end receives the acquired plurality of surfaces to be detected, extracts a standard surface data packet corresponding to the detected workpiece from the database according to the workpiece number, compares the surface to be detected with a corresponding standard surface in the standard surface data packet, if the comparison similarity is less than or equal to 95%, marks the surface to be detected as a comparison abnormal surface, if the comparison similarity is more than 95%, does not carry out any treatment, and particularly, the two groups of pictures are compared to generate similarity, so that the comparison mode is a picture comparison mode commonly used in the prior art, and therefore excessive description is omitted;
Then, whether the comparison abnormal surface is a regular surface or not is judged, if the comparison abnormal surface is a regular surface, the comparison abnormal surface is transmitted to a regular surface processing end, and if the comparison abnormal surface is not a regular surface, the comparison abnormal surface is transmitted to a non-regular surface processing end, and the judgment mode is as follows:
Determining the highest salient points existing in the surface of the abnormal surface, determining the lowest point existing in the surface of the abnormal surface, locking the horizontal distance SJ between the highest salient points and the lowest point, and judging whether the horizontal distance SJ is more than or equal to Y1, wherein Y1 is a preset value, the specific value of the Y1 is determined by an operator according to experience, if the Y1 is determined by the operator according to experience, the surface of the abnormal surface is marked as an irregular surface and is transmitted to an irregular surface processing end, and if the Y1 is not determined by the operator according to experience, the surface of the abnormal surface is marked as an irregular surface and is transmitted to an irregular surface processing end;
Specifically, when the corresponding workpiece surface is abnormal, the situation that the sizes are inconsistent or the situation that the surface is defective is that the defects are not regular is represented, and when the size parameters cause the abnormality, the corresponding surface is a corresponding regular surface, and aiming at the abnormal surface, the online detection robot needs to be regulated and controlled, so that the abnormal surface is detected again, and the comprehensiveness of detection data is ensured.
The normalization surface processing end analyzes the comparison abnormal surface calibrated as the normalization surface, directly determines the center point of the comparison abnormal surface, and calibrates the center point as a point to be moved, and the center point of the picture is determined as a conventional technical means, so that excessive description is not made here;
The specific method is as follows:
translating the center point to one side, determining a translation point, and calibrating the translation point as a point to be moved, wherein the translation distance is X1m, X1 is a preset value, and the specific value is drawn by an operator according to experience;
the translation direction is perpendicular to the surface of the normalization surface, and the determined point to be moved is transmitted to the path planning analysis end;
Specifically, for the surface of the whole surface, the corresponding center point can be directly determined because the surface is a region with flaws or different concave-convex, and then the corresponding point to be moved is locked according to the determined center point, so that the surface detection processing can be performed on the whole surface when the corresponding detection robot reaches the three-dimensional coordinates of the point to be moved.
The non-normalization surface processing end analyzes a comparison abnormal surface calibrated as a non-normalization surface, performs scaling down on the comparison abnormal surface, determines an outer circle, selects a highest point and a lowest point from the outer circle, then determines a center point of the comparison abnormal surface, determines a detection route according to a motion track of the lowest point, the center point and the highest point, and calibrates the lowest point as a point to be moved, wherein the specific mode of determining the detection route is as follows:
According to the determined comparison abnormal surface, directly determining the center point of the comparison abnormal surface, carrying out equal proportion reduction on the comparison abnormal surface by 90%, determining a reduced surface, overlapping the center point of the reduced surface with the center point of the comparison abnormal surface, calibrating a non-intersected area between the reduced surface and the comparison abnormal surface as a peripheral area, and if the two surfaces are square surfaces, both have corresponding center points, one square surface is 90% of the other square surface, wherein an interval area exists between the two square surfaces, namely, a peripheral area is not intersected, and for the purpose of detecting the abnormal surface, the overall degree is higher, so that a route is determined through the peripheral area, and a planned route is possibly shorter because of a plurality of highest points and lowest points, and if the highest points and the lowest points of the peripheral area are determined, a better detection route can be obtained;
Confirming the highest point and the lowest point existing in the peripheral area, translating the three groups of points to one side according to the confirmed center point, determining translation points, wherein the translation distance is X1m, X1 is a preset value, determining a detection route according to the path trend of the translated lowest point, the center point and the highest point, calibrating the translated lowest point as a point to be moved, transmitting the calibrated point to be moved to a path planning analysis end, and transmitting the detection route to a control terminal.
Example two
Referring to fig. 2, the path planning analysis end determines an initial original point location of the detection piece of the detection robot, performs moving path planning according to the received point location to be moved, determines an optimal planning route, and transmits the optimal planning route to the control terminal, wherein the specific manner of determining the optimal planning route is as follows:
Connecting the original point position with the point position to be moved to determine a group of connecting lines, constructing a group of isosceles triangles through the connecting lines, and determining a center vertical line from the vertex angles of the isosceles triangles;
according to the center vertical line, a plurality of groups of walking curves are confirmed, two end points of the walking curves are respectively an original point position and a point position to be moved, and the walking curves are mirror images of each other based on the center vertical line;
Determining intersection points of different walking curves and a central vertical line from a plurality of walking curves, determining the closest distance and the farthest distance between the different walking curves and the abnormal surface to be compared according to the intersection points, and calibrating the intersection points as [ J imin, J imax ], wherein J imin is the closest distance, J imax is the farthest distance, i represents different walking curves, and then carrying out cross comparison processing on a plurality of intervals [ J imin, J imax ] and a standard distance interval to determine a cross area, wherein the standard distance interval is a preset interval, calibrating the walking curve with the largest cross area as an optimal planning route for the optimal distance interval detected by the corresponding detection robot, judging whether the two endpoint values in the maximum cross area are the largest, if so, rejecting the walking curve, and reselecting the optimal planning route, and if not, directly transmitting the selected optimal planning route into a control terminal;
Specifically, a general standard distance interval is selected as [30,50], if three groups of walking curves exist, wherein intervals constructed by the minimum value and the maximum value of the distance between the intersection point and the abnormal surface are respectively [30,35], [30,40], [30,45], and the interval with the largest intersection area belongs to [30,45], the walking curve is the optimal planning route;
The end face is abnormal, the situation of irregularity is unavoidable, if the selected walking curve is the optimal route, but collision can occur between the selected walking curve and a workpiece in the actual walking process, the walking curve is not advisable, the walking curve needs to be determined again, the diffusion needs to be carried out to the outside, and the selection and the confirmation are carried out sequentially, so that the optimal walking curve is locked, wherein the existing detection robot has reached the detection mode and the height of curve walking in the walking detection process, and therefore excessive description is omitted here;
Firstly, because the corresponding abnormal surface of the workpiece is abnormal, if an optimal moving track can be selected when the corresponding detection robot moves, the abnormal surface can be fully detected in the moving process, and then the abnormal surface is detected according to a detection route.
And the control terminal moves the detection part of the online detection robot from the original point position to the point position to be moved according to the determined optimal planning route, walks according to the optimal planning route, judges whether the detection route exists at the stage after the detection part reaches the point position to be moved, walks according to the route planning of the detection route if the detection route exists, carries out surface detection, and carries out surface monitoring at the point position to be moved if the detection part does not exist.
Some of the data in the above formulas are numerical calculated by removing their dimensionality, and the contents not described in detail in the present specification are all well known in the prior art.
The above embodiments are only for illustrating the technical method of the present invention and not for limiting the same, and it should be understood by those skilled in the art that the technical method of the present invention may be modified or substituted without departing from the spirit and scope of the technical method of the present invention.