Device and method for synchronous visual positioning for robots at two sides of wall surface
A technology of robot vision and visual positioning, applied in the directions of instruments, manipulators, general control systems, etc., can solve problems such as insufficient flexibility, inability to locate large spherical tanks and vertical storage tanks, and inability to achieve detection, and achieves the realization of synchronous positioning. Effect
Inactive Publication Date: 2017-09-22
SOUTHEAST UNIV
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Problems solved by technology
[0003] For example, a detection robot disclosed in the patent No. ZL200510018933.4 cannot detect large spherical tanks and vertical storage tanks because they cannot be positioned on the object to be detected.
For example, the X-ray inspection robot for storage tank welds disclosed in the application number 201410005169.6 can only move horizontally and vertically, and cannot move or rotate in any direction. position
[0004] Since the robot is in a state of constant change, robot positioning and tracking has always been difficult
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[0029] The embodiment of the present invention uses two permanent magnet adsorption robots, respectively the active robot 1 and the driven robot 2, the wall surface is a steel metal plate with a thickness of 10mm, and both the first visual positioning system 4 and the second visual positioning system 5 are used. USB industrial camera, adjustable bracket, image processor 8 is WAFER-945GSE2 industrial control motherboard, USB wireless network card installed on image processor 8, remote control center 10 uses HPZBOOK15 workstation, wireless repeater 3 uses TP-LINK wireless router. After measuring and positioning on both sides of the wall, set three bilaterally symmetrical marking points with reference to the bottom and edge of the walls on both sides, and set marking points at the geometric centers of the upper ends of the two robots as robot position identification marks. Such as Figure 4 Binarized images on both sides of the wall obtained by the first visual positioning syste...
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The invention discloses a device and a method for synchronous visual positioning for robots at the two sides of a wall surface. The device comprises a first visual positioning system, a second visual positioning system, a wireless relay and a remote control centre. Each of the first visual positioning system and the second visual positioning system comprises an industrial camera, an adjustable rack, an image processor and a wireless module. The first visual positioning system acquires the position coordinates of a master robot at one side, the second visual positioning system acquires the position coordinates of a slave robot at the other side, the coordinate values of the two robots are sent to the remote control centre through the wireless relay, the remote control centre calculates the distance difference value of actual positions of the two robots, and controls the slave robot to move and enables the slave robot to be opposite to the master robot in position at the two sides of the wall surface, thereby realizing synchronization for the robots at the two sides.
Description
technical field [0001] The invention belongs to the field of robot tracking and positioning, and relates to a device and method for visual synchronous positioning of robots on both sides of a wall. Background technique [0002] In recent years, the number of special equipment has been increasing rapidly. This poses new challenges to ensure high-quality, high-efficiency, and high-level inspection and testing of special equipment. At present, there is a gap in the automatic detection process equipment of large spherical tanks, vertical storage tanks and other in-service pressure equipment at home and abroad, and the existing detection robots are relatively insufficient in flexibility for internal weld detection, which cannot meet the demand. When using a robot for weld inspection, such as X-ray inspection, it should be ensured that the ray-emitting robot and the imaging robot move relatively accurately and synchronously to ensure effective imaging. [0003] For example, the ...
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IPC IPC(8): B25J3/00B25J9/16
CPCB25J3/00B25J9/1615B25J9/1697G05B2219/40005
Inventor 王兴松李杰王姗姗
Owner SOUTHEAST UNIV