Roadway scanning method and device based on mechanical arm, electronic equipment and medium

A scanning method and a technology of a robotic arm, applied in the field of roadway scanning, can solve the problem that the scanner cannot scan the blind area blocked by obstacles, and achieve the effect of achieving completeness and improving effectiveness

Pending Publication Date: 2022-07-22
JIANGHAN UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, provide a roadway scanning method, device, electronic equipment and

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  • Roadway scanning method and device based on mechanical arm, electronic equipment and medium
  • Roadway scanning method and device based on mechanical arm, electronic equipment and medium
  • Roadway scanning method and device based on mechanical arm, electronic equipment and medium

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[0052] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0053] The method, device, device or computer-readable storage medium for roadway scanning based on a robotic arm involved in the present invention can be used in coal mines, tunnels, mine roadways and other occasions. The mechanical arm involved in the present invention includes a plurality of connecting rods that are hinged in sequence, wherein the end of the connecting rod at one end is fixedly connected to the base, and the end of the connecting rod at the other end is connected with a scanner. It can rotate freely. Any link has six degrees of freedom. When the end of the manipulator r...

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Abstract

The invention discloses a roadway scanning method and device based on a mechanical arm, electronic equipment and a storage medium, and the method comprises the steps: obtaining the range of an abnormal region of the inner wall of a roadway based on a point cloud model, and determining the coordinates of the abnormal region and the target position scanned by a scanner; according to the coordinates of the abnormal area, a preset RRT algorithm and a preset collision detection method are combined to determine the optimal movement path of the mechanical arm; based on the optimal motion path, the pose of the mechanical arm is roughly adjusted, so that the scanner reaches a preset target position; and according to the coordinates of the abnormal area, multiple times of fine tuning traversal are conducted on the mechanical arm based on a preset target position, so that a scanner reaches the target position to scan the abnormal area. The technical problems that in the prior art, the inner wall of a roadway is uneven, obstacles exist in the roadway or data collection on the inner wall of the roadway under an irregular roadway is incomplete are solved.

Description

technical field [0001] The invention relates to the technical field of roadway scanning, in particular to a roadway scanning method, device, electronic device and storage medium based on a robotic arm. Background technique [0002] At present, most of the 3D laser scanning for mine roadway engineering and tunnel engineering are ground stationary and mobile 3D laser scanning. Ground stationary 3D laser scanning technology, in the process of point cloud collection, due to its own conditions, it needs to be statically erected at a certain ground point during the working process, and the scanner cannot be moved during the scanning process, and the scanner is in the working process. The surrounding objects are scanned in all directions. The farther away from the station, the sparser the point cloud scanning. Since the point cloud is sparse and narrow strip-shaped objects are scanned farther from the station, the stationary 3D laser scanning system must be scanned according to the...

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Application Information

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IPC IPC(8): G06T7/73G06T7/80B25J9/16
CPCG06T7/75G06T7/80B25J9/1666B25J9/163B25J9/1679G06T2207/10028G06T2207/30204G06T2207/30244
Inventor 孙超曹勉苗隆鑫丁建军
Owner JIANGHAN UNIVERSITY
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