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

Abstract

The present invention discloses a tunnel scanning method, device, electronic device and storage medium based on a mechanical arm, the method comprising: based on the point cloud model, obtaining the range of the abnormal area of ​​the inner wall of the tunnel, and determining the coordinates of the abnormal area and the target position of the scanner scanning; according to the coordinates of the abnormal area, using a preset RRT algorithm in combination with a preset collision detection method to determine the optimal movement path of the mechanical arm; based on the optimal movement path, roughly adjusting the posture of the mechanical arm so that the scanner reaches the preset target position; according to the coordinates of the abnormal area, fine-tuning the mechanical arm multiple times based on the preset target position so that the scanner reaches the target position to scan the abnormal area. The present invention solves the technical problem in the prior art that incomplete data will occur when collecting data on the inner wall of the tunnel when the inner wall is uneven, obstacles exist in the tunnel or the inner wall is irregular.

Description

Technical Field

[0001] The present invention relates to the technical field of lane scanning, and in particular to a lane scanning method, device, electronic equipment and storage medium based on a robot arm. Background Art

[0002] At present, most of the 3D laser scanning for mine tunnel engineering and tunnel engineering is ground static and mobile 3D laser scanning. In the process of point cloud collection, due to its own conditions, the ground static 3D laser scanning technology needs to be statically set up at a certain ground point during the work process. The scanner cannot be moved during the scanning process, and the scanner performs a full-scale scan of the surrounding objects during the work process. The farther away from the measuring station, the sparser the point cloud scan. Since the point cloud is sparse and the narrow strip-shaped target is far away from the measuring station, the static 3D laser scanning system must reasonably arrange the number and location of the measuring stations according to the scanning object and the site. Mobile 3D laser scanning has a significant improvement in scanning efficiency compared to ground static scanning, but it also has shortcomings in other aspects: first, the mobile 3D laser scanning method is mostly used in tunnel projects that have been completed. Mobile scanning is performed by rail trolleys or mobile platforms, and is only applicable to environments without obstacles on the ground. Second, during the scanning process, the scanner can only perform mobile scanning based on tracks or roads. By emitting laser lines, point clouds are collected, but the point clouds scanned from tunnel walls far away from the mobile platform are sparse.

[0003] However, both of these two laser scanning methods have inevitable shortcomings, and are mainly aimed at ground road conditions such as mines and tunnels, and conditions where the tunnel walls are regular. However, during the construction of tunnel projects, the pipelines, cables, and operating equipment inside the shafts and tunnels are relatively complex, and the tunnel walls are uneven and irregular. Scanning of the tunnel walls is impossible or there are many scanning blind spots, and the efficiency may be greatly reduced. At the same time, the accuracy will also be relatively reduced, and the scanning task area will be missed. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a tunnel scanning method, device, electronic device and storage medium based on a robotic arm to solve the technical problem that the scanner in the prior art cannot scan the blind area blocked by obstacles in the tunnel.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a lane scanning method based on a robotic arm, comprising:

[0007] The preset DH method is used to establish a three-dimensional space coordinate system based on the robotic arm;

[0008] Obtain the real-time point cloud coordinates of the inner wall of the tunnel and establish a point cloud model;

[0009] Based on the point cloud model, the range of the abnormal area of ​​the inner wall of the tunnel is obtained, and the coordinates of the abnormal area and the target position scanned by the scanner are determined;

[0010] According to the coordinates of the abnormal area, a preset RRT algorithm is combined with a preset collision detection method to determine the optimal movement path of the robot arm;

[0011] Based on the optimal motion path, roughly adjusting the position of the robot arm so that the scanner reaches a preset target position, wherein the preset target position is a position at a set distance from the target position;

[0012] According to the coordinates of the abnormal area, the robot arm is fine-tuned and traversed multiple times based on a preset target position, so that the scanner reaches the target position to scan the abnormal area.

[0013] In some embodiments, the rotation axis position of each connecting rod is selected as the origin;

[0014] In the coordinate system o i-1 x i-1 y i-1 z i-1 In z i-1 As the axis, x i-1 The axis rotates the first set angle so that x i-1 Axis and x i The axes are distributed along a preset direction, wherein the preset direction is x i-1 Axis and x i The axes are distributed in the same direction;

[0015] According to the preset direction, x i-1 Axis along z i-1 The axis is translated by the first set distance so that its x i-1 With x i The axis is in a first preset position, wherein the first preset position is x i-1 Axis and x i The axes are located on the same straight line;

[0016] According to the first preset position, z i-1 Axis along x i The axis is translated by the second set distance so that the coordinate system o i-1 x i-1 y i- 1z i-1 With coordinate system o i x i y i z i is in a second preset position, wherein the second preset position is a coordinate system oi-1 x i-1 y i-1 z i-1 With coordinate system o i x i y i z i The origin of coincides;

[0017] According to the second preset position, z i-1 Axis around x i The axis rotates to the second set angle so that z i-1 Axis and z i The axes are located on the same straight line.

[0018] In some embodiments, obtaining the real-time point cloud coordinates of the inner wall of the tunnel and establishing the point cloud model includes:

[0019] Adjust the robot arm from a preset initial posture to a posture to be scanned;

[0020] According to the posture to be scanned, a moving scanning method is adopted to collect the real-time point cloud coordinates of the inner wall of the tunnel, and a point cloud model is established.

[0021] In some embodiments, based on the point cloud model, the scope of the abnormal area of ​​the inner wall of the tunnel is obtained, and the coordinates of the abnormal area and the target position scanned by the scanner are determined, including: based on the point cloud model, using a preset hole recognition method to identify the abnormal area of ​​the point cloud model.

[0022] In some embodiments, the method of determining the optimal movement path of the robot arm by combining a preset RRT algorithm with a preset collision detection method according to the coordinates of the abnormal area includes:

[0023] Get the start and end points of the scanner;

[0024] According to the starting point and the end point, a preset RRT algorithm is used to plan the path of the robot arm to obtain multiple feasible paths;

[0025] Based on the feasible paths, a preset collision detection method is used to obtain an optimal path with the shortest path among the feasible paths.

[0026] In some embodiments, based on the optimal motion path, the posture of the robot arm is roughly adjusted, including:

[0027] Predicting the target position of the robotic arm according to the coordinates of the abnormal area;

[0028] Obtaining the projection of the robot arm posture in the current state and the target posture on a preset plane;

[0029] Based on the projection, the angles between the links of the robotic arm are adjusted so that the robotic arm coincides with the target posture in the preset plane.

[0030] In some embodiments, according to the coordinates of the abnormal area, the robot arm is fine-tuned and traversed multiple times based on a preset target position so that the scanner reaches the target position to scan the abnormal area, including:

[0031] Get the current angle between the links of the robot arm at the preset target position;

[0032] Based on the current angle, the angle of the mechanical arm closest to the scanner is adjusted in sequence so that the preset target position coincides with the target position.

[0033] In a second aspect, the present invention further provides a lane scanning device based on a robotic arm, comprising:

[0034] A coordinate system establishing device, used to establish a three-dimensional space coordinate system based on the robot arm using a preset DH method;

[0035] A modeling device, used to obtain the real-time point cloud coordinates of the inner wall of the tunnel and establish a point cloud model;

[0036] An acquisition device, used to acquire the range of the abnormal area of ​​the inner wall of the tunnel based on the point cloud model, and determine the coordinates of the abnormal area and the target position scanned by the scanner;

[0037] An optimal path acquisition device, used to determine the optimal movement path of the robot arm by combining a preset RRT algorithm with a preset collision detection method according to the coordinates of the abnormal area;

[0038] A posture adjustment device, used for roughly adjusting the posture of the robot arm based on the optimal motion path, so that the scanner reaches a preset target position, wherein the preset target position is a position at a set distance from the target position;

[0039] The posture adjustment scanning device performs multiple fine-tuning traversals on the robot arm based on the preset target position according to the coordinates of the abnormal area, so that the scanner reaches the target position to scan the abnormal area.

[0040] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory;

[0041] The memory stores a computer-readable program executable by the processor;

[0042] When the processor executes the computer-readable program, the steps in the lane scanning method based on the robot arm as described above are implemented.

[0043] In a fourth aspect, the present invention further provides a computer-readable storage medium storing one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the robot-based lane scanning method as described above.

[0044] Compared with the prior art, the tunnel scanning method, device, electronic device and storage medium based on a robotic arm provided by the present invention first adopt a preset DH method to establish a three-dimensional space coordinate system based on the robotic arm; then obtain the real-time point cloud coordinates of the inner wall of the tunnel and establish a point cloud model; then based on the point cloud model, obtain the range of the abnormal area of ​​the inner wall of the tunnel, and determine the coordinates of the abnormal area and the target position scanned by the scanner; then, according to the coordinates of the abnormal area, adopt a preset RRT algorithm combined with a preset collision detection method to determine the optimal movement path of the robotic arm; then, based on the optimal movement path, roughly adjust the posture of the robotic arm so that the scanner reaches the preset target position, wherein the preset target position is a position at a set distance from the target position; finally, according to the coordinates of the abnormal area, the robotic arm is fine-tuned and traversed multiple times based on the preset target position so that the scanner reaches the target position to scan the abnormal area. The method provided by the present invention can avoid the problem of a large distance between the scanner and the target point and the point cloud obtained being too sparse to meet the scanning requirements by using a mobile scanner, thereby improving the validity of the scanning data. At the same time, the method provided by the present invention can solve the problem of being unable to scan or having blind spots after scanning when there are obstacles on the inner wall of the tunnel, the tunnel wall is uneven, or the tunnel is irregular, thereby achieving the integrity of the scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of an embodiment of a lane scanning method based on a robotic arm provided by the present invention;

[0046] Figure 2 is a schematic diagram of an embodiment of step S102 in the lane scanning method based on a robot arm provided by the present invention;

[0047] Figure 3 It is a schematic diagram of an embodiment of step S104 in the lane scanning method based on a robot arm provided by the present invention;

[0048] Figure 4 It is a schematic diagram of an embodiment of step S105 in the lane scanning method based on a robot arm provided by the present invention;

[0049] Figure 5 is a schematic diagram of an embodiment of step S106 in the lane scanning method based on a robot arm provided by the present invention;

[0050] Figure 6is a schematic diagram of an embodiment of a lane scanning device based on a mechanical arm provided by the present invention;

[0051] Figure 7 It is a schematic diagram of the operating environment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0053] The tunnel scanning method, device, equipment or computer-readable storage medium based on the mechanical arm involved in the present invention can be used in coal mines, tunnels, mine tunnels and other occasions. The mechanical arm involved in the present invention includes a plurality of connecting rods 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 to a scanner, and any two adjacent connecting rods can rotate freely, and any one connecting rod has six degrees of freedom. When the end of the mechanical arm reaches the target point, it may correspond to a variety of postures, but one posture of the mechanical arm corresponds to one target point at the end, so each combination of the six-degree-of-freedom mechanical arm represents a posture of the mechanical arm, and each posture corresponds to a spatial position of the end. In a more specific embodiment, the mechanical arm used in the present invention is a six-link mechanical arm. The method, device, equipment or computer-readable storage medium involved in the present invention can be integrated with the above-mentioned system or can be relatively independent.

[0054] Figure 1 is a flowchart of a lane scanning method based on a robotic arm provided in an embodiment of the present invention. Figure 1 , the lane scanning method based on the robot arm includes:

[0055] S101, using a preset DH method to establish a three-dimensional space coordinate system based on the robot arm;

[0056] S102, obtaining real-time point cloud coordinates of the inner wall of the tunnel and establishing a point cloud model;

[0057] S103, based on the point cloud model, obtaining the range of the abnormal area of ​​the inner wall of the tunnel, and determining the coordinates of the abnormal area and the target position scanned by the scanner;

[0058] S104, according to the coordinates of the abnormal area, using a preset RRT algorithm combined with a preset collision detection method to determine the optimal movement path of the robot arm;

[0059] S105, based on the optimal motion path, roughly adjusting the position of the robot arm so that the scanner reaches a preset target position, wherein the preset target position is a position at a set distance from the target position;

[0060] S106 , according to the coordinates of the abnormal area, the robot arm is fine-tuned and traversed multiple times based on a preset target position, so that the scanner reaches the target position to scan the abnormal area.

[0061] In this embodiment, the displacement of the scanner is calibrated by establishing a spatial coordinate system, and the position of the abnormal area is obtained and marked as the target position. Therefore, when the scanner reaches the target point, the angle of each rotation axis is controlled to switch the position of the robotic arm, so that the scanner can scan the abnormal area and obtain point cloud data of the abnormal area.

[0062] In step S101, the preset DH method is mainly used to describe the coordinate direction and parameters between two adjacent connecting rods. Specifically, it is a method of establishing a series of coordinate systems at the connection of the connecting rods and using homogeneous coordinate transformation to describe the relative position and direction between these coordinates.

[0063] In step S102, the point cloud coordinates are the point cloud information representation of the coordinate system established based on the preset DH method. By modeling the acquired point cloud data of the inner wall of the tunnel, the scanner and the abnormal area to be measured can be accurately positioned.

[0064] In step S103, the point cloud model can truly reflect the situation of the inner wall of the tunnel. The scanner cannot scan the entire inner wall of the tunnel when scanning the inner wall of the tunnel in an ordinary way. The missing positions can be clearly reflected through the point cloud model, which is convenient for subsequent guidance of the movement of the robotic arm so that the scanner can directly scan the abnormal area, obtain the point cloud data of the abnormal area, and complete the data of the inner wall of the tunnel.

[0065] In step S104, the RRT algorithm is applicable to path planning problems involving non-complete constraints, and the collision detection algorithm approximates the robot arm through a set of line segments, and then tests whether these line segments will collide with the path planned by the RRT algorithm. If no collision occurs, it means that the current path is feasible. If a collision occurs, it means that the current path does not meet the expected requirements and needs to be re-planned; the RRT algorithm and the collision detection algorithm are used to plan the path of the robot arm, so that the scanner can avoid obstacles in the abnormal area when collecting point cloud data in the abnormal area, reach the target point, scan the abnormal area, and obtain point cloud data in the abnormal area; wherein, the best path represents a path with the shortest distance between the starting point and the end point among many feasible paths.

[0066] In step S105, before scanning the abnormal area, the default posture of the robotic arm is in an initial state, and according to the optimal path, the angle between the robotic arm links is commanded to change, approaching the target position as close as possible, and making the posture of the robotic arm as close as possible to the optimal path.

[0067] In step S106, the robot arm is fine-tuned multiple times so that the scanner reaches the target position and scans the abnormal area.

[0068] In this embodiment, a three-dimensional coordinate system based on the robotic arm is established by adopting the DH method, and then the point cloud coordinates of the inner wall of the tunnel are obtained and a point cloud model is established. The abnormal area in the point cloud model is obtained and the target position of the abnormal area in space is marked with the three-dimensional coordinate system as a reference. Then, the RRT algorithm and the collision detection algorithm are used to plan the best path for the robotic arm to reach the abnormal area. According to the planned best path, the robotic arm is roughly adjusted to make the scanner reach a preset target position close to the target position, and then the robotic arm is fine-tuned to make the scanner reach the target position to scan the abnormal area. This solves the problem that ordinary scanning methods cannot obtain complete point cloud data of the inner wall of the tunnel when the inner wall of the tunnel is irregular, there are obstacles, or the tunnel is tortuous.

[0069] In some embodiments, the use of a preset DH method to establish a three-dimensional space coordinate system based on the robot arm includes:

[0070] Select the rotation axis position of each connecting rod as the origin;

[0071] In the coordinate system o i-1 x i-1 y i-1 z i-1 In z i-1 As the axis, x i-1 The axis rotates the first set angle so that x i-1 Axis and x i The axes are distributed along a preset direction, wherein the preset direction is x i-1 Axis and x i The axes are distributed in the same direction;

[0072] According to the preset direction, x i-1 Axis along z i-1 The axis is translated by the first set distance so that its x i-1 With x i The axis is in a first preset position, wherein the first preset position is x i-1 Axis and x i The axes are located on the same straight line;

[0073] According to the first preset position, z i-1 Axis along x iThe axis is translated by the second set distance so that the coordinate system o i-1 x i-1 y i- 1z i-1 With coordinate system o i x i y i z i is in a second preset position, wherein the second preset position is a coordinate system o i-1 x i-1 y i-1 z i-1 With coordinate system o i x i y i z i The origin of coincides;

[0074] According to the second preset position, z i-1 Axis around x i The axis rotates to the second set angle so that z i-1 Axis and z i The axes are located on the same straight line.

[0075] In this embodiment, for a six-degree-of-freedom manipulator, each joint is a rotational joint. The preset DH method is used in combination with the structure of the manipulator itself to establish the coordinate system of each link, and the inverse kinematics (manipulator inverse kinematics refers to solving the angles of each joint of the manipulator when the angles of each joint of the manipulator are unknown and the position of the end of the manipulator is known) must meet the following two conditions to obtain a closed solution: one is that three adjacent joint axes of the six joints of the manipulator intersect at one point, and the other is that three adjacent joint axes of the six joints are parallel to each other. The six-degree-of-freedom manipulator used in the present invention meets the above two conditions, so a closed solution can be obtained.

[0076] In some embodiments, see Figure 2 The method of obtaining the real-time point cloud coordinates of the inner wall of the tunnel and establishing a point cloud model includes:

[0077] S201, adjusting the robot arm from a preset initial posture to a posture to be scanned;

[0078] S202: According to the position to be scanned, a moving scanning method is used to collect real-time point cloud coordinates of the inner wall of the tunnel, and a point cloud model is established.

[0079] In this embodiment, the six links of the robot arm are defined as link 1 to link 6 along the direction from the base to the scanner. When the robot arm is in the preset initial posture, the relationship between the links of the robot arm is that all the links and the scanner are located on the same straight line; when the robot arm is in the posture to be scanned, the relationship between the links of the robot arm is: lock link 2, link 3 and link 4, keep link 2 and link 1 at a 90° angle, link 4 and link 5 at a 90° angle, link 4 can rotate 360° vertically in the plane with link 3 as the axis, while links 1, 5, and 6 are fixed. In step S102, the real-time point cloud coordinates of the inner wall of the lane are obtained, and the robot arm posture is taken, that is, the traveling scanning posture, wherein the traveling scanning posture is the posture to be scanned. When the scanner is running, link 4 rotates relative to link 3 in the plane.

[0080] In some embodiments, based on the point cloud model, the scope of the abnormal area of ​​the inner wall of the tunnel is obtained, and the coordinates of the abnormal area and the target position scanned by the scanner are determined, including: based on the point cloud model, using a preset hole recognition method to identify the abnormal area of ​​the point cloud model.

[0081] In this embodiment, the acquired three-dimensional point cloud data information of the tunnel must first be processed and analyzed, wherein the data processing mainly includes the preprocessing of the point cloud data and the filtering and denoising of the point cloud data. After the processing of the point cloud data is completed, the three-dimensional model of the complex tunnel is completed through the three-dimensional reconstruction technology, and then the three-dimensional model of the tunnel is analyzed. The blind spots and abnormal missing areas of the three-dimensional model of the tunnel are marked through hole recognition and manual methods to obtain their locations.

[0082] In some embodiments, see Figure 3 , the method of determining the optimal movement path of the robot arm by combining a preset RRT algorithm with a preset collision detection method according to the coordinates of the abnormal area includes:

[0083] S301, obtaining the starting point and end point of the scanner;

[0084] S302, according to the starting point and the end point, using a preset RRT algorithm to perform path planning for the robot arm to obtain multiple feasible paths;

[0085] S303: Based on the feasible paths, a preset collision detection method is used to obtain an optimal path that is relatively the shortest among the feasible paths.

[0086] In step S301, the starting position and the ending position of the end of the robot arm (ie, the scanner) are set in the simulation software according to the range of one of the abnormal areas obtained in the three-dimensional model.

[0087] In step S302, the specific method of obtaining multiple feasible paths through the RRT algorithm is as follows: first, the first node x is generated. init , in each cycle, a random point x is generated rand , the generation of random points is arbitrary; after generating a random point, traverse each node in the random tree, calculate the distance between each node and the random point generated by the loop, and find the node closest to this random point, recorded as x near ; Define a step variable, when x is found near When x near To x near With x rand The connection direction is extended by a specified step length, and a new node x is generated after the extension new ; judge x new Whether the constraint is satisfied, that is, whether it is outside the obstacle. If not, discard x new , regenerate new random points. If the constraints are met, add x new , and in x near to x new Add an edge between them; accordingly, insert a new node x new In the process, if x near 、x new and x near to x new If any of the edges between is in the obstacle or intersects with the obstacle, no node will be added in this loop, and a new random point x will be regenerated in the next loop. new Then make a judgment, and finally until x new Connect to the end point, trace back to the parent node, and get multiple paths.

[0088] In step S303, in order to select a path that avoids obstacles and is the closest to the target from multiple paths planned by the RRT algorithm, a collision algorithm is used for detection. The collision detection algorithm is specifically a bounding box algorithm. The bounding box algorithm originally uses a geometric body with a slightly larger volume and simpler characteristics to approximate a complex geometric object. In this method, a six-degree-of-freedom robotic arm is used to replace the object. The object is wrapped with a geometric body, and only the intersection with the obstacle is detected when the intersection with the obstacle is detected, so as to determine whether a collision occurs and plan the optimal path for the robotic arm.

[0089] In some embodiments, see Figure 4 Based on the optimal motion path, the position and posture of the robot arm are roughly adjusted, including:

[0090] S401, predicting the target position and posture of the robot arm according to the coordinates of the abnormal area;

[0091] S402, obtaining the projection of the robot arm posture in the current state and the target posture on a preset plane;

[0092] S403: Based on the projection, adjust the angles between the links of the robotic arm so that the robotic arm coincides with the target posture in the preset plane.

[0093] In step S401 , the target posture of the robot arm is a state when the scanner is infinitely close to the target position and the posture of the robot arm is infinitely close to the optimal path.

[0094] In step S402, the preset plane is any plane in the established three-dimensional coordinate system.

[0095] In this embodiment, by projecting the current robot arm posture and the predicted target posture on a preset plane and by setting the rotation angle of each joint, a rough adjustment on the projection plane can be achieved, so that the current posture of the robot arm coincides with the predicted target posture; the specific adjustment method is: after the specific coordinates (x, y, z) of the abnormal area are known, the specific three-dimensional coordinate position is first converted to the coordinate system of the six-degree-of-freedom robot arm (x1, y1, z1); by projecting on a preset suitable plane, taking the xoy plane as an example here, (x1, y1, 0) is obtained; the transformation angle between the links of the robot arm can be obtained by the inverse kinematics solution method, thereby controlling each joint to rotate a specified angle, and achieving a rough adjustment on the projection plane.

[0096] In some embodiments, see Figure 5 , the method of fine-tuning the robot arm multiple times based on the preset target position according to the coordinates of the abnormal area, so that the scanner reaches the target position to scan the abnormal area, including:

[0097] S501, obtaining the current angle between the connecting rods of the robot arm at the preset target position;

[0098] S502: Based on the current angle, adjust the angle of the robot arm closest to the scanner in sequence so that the preset target position coincides with the target position.

[0099] In this embodiment, first, according to the current position after coarse adjustment, it is determined whether the target point has been reached. If the target point has not been reached, the angle (θ5) closest to the scanner is adjusted first to determine whether the target point has been reached. If the target point has been reached, the adjustment is terminated; if the target point has not been reached, it is determined whether it has fallen into a local optimum. If so, θ4 is adjusted, otherwise the adjustment is terminated; after adjusting θ4, it is determined whether the target point has been reached. If the target point has been reached, the adjustment is terminated; if the target point has not been reached, it is determined whether it has fallen into a local optimum. If so, θ3 is adjusted, otherwise the adjustment is terminated; after adjusting θ3, it is determined whether the target point has been reached. If the target point has been reached, the adjustment is terminated; if the target point has not been reached, it is determined whether it has fallen into a local optimum. If so, θ2 is adjusted, otherwise the adjustment is terminated; after adjusting θ2, it is determined whether the target point has been reached. If the target point has been reached, the adjustment is terminated; if the target point has not been reached, it is determined whether it has fallen into a local optimum. If so, θ1 is adjusted, otherwise the adjustment is terminated; after adjusting θ1, it is determined whether the target point has been reached. If the target point has been reached, it is determined whether it has fallen into a local optimum. If so, the adjustment is continued, otherwise the adjustment is terminated.

[0100] Based on the above-mentioned lane scanning method based on a robot arm, the embodiment of the present invention also provides a lane scanning device 600 based on a robot arm, see Figure 6 The lane scanning device 600 based on the robot arm includes: a coordinate system establishment module 610, a modeling module 620, an acquisition module 630, an optimal path acquisition module 640, a posture adjustment module 650, and a posture adjustment scanning module 660.

[0101] The coordinate system establishing module 610 is used to establish a three-dimensional space coordinate system based on the robot arm by using a preset DH method.

[0102] The modeling module 620 is used to obtain the real-time point cloud coordinates of the inner wall of the tunnel and establish a point cloud model.

[0103] The acquisition module 630 is used to acquire the range of the abnormal area of ​​the inner wall of the tunnel based on the point cloud model, and determine the coordinates of the abnormal area and the target position scanned by the scanner.

[0104] The optimal path acquisition module 640 is used to determine the optimal movement path of the robot arm according to the coordinates of the abnormal area by combining a preset RRT algorithm with a preset collision detection method.

[0105] The posture adjustment module 650 is used to roughly adjust the posture of the robot arm based on the optimal movement path so that the scanner reaches a preset target position, wherein the preset target position is a position at a set distance from the target position.

[0106] The posture adjustment scanning module 660 is used to perform multiple fine-tuning traversals on the robot arm based on the coordinates of the abnormal area and a preset target position, so that the scanner reaches the target position to scan the abnormal area.

[0107] like Figure 7 As shown, based on the above-mentioned lane scanning method based on a robot arm, the present invention also provides an electronic device, which can be a computing device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The electronic device includes a processor 710, a memory 720, and a display 730. Figure 7 Only some components of the electronic device are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0108] In some embodiments, the memory 720 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 720 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Further, the memory 720 may also include both an internal storage unit of the electronic device and an external storage device. The memory 720 is used to store application software and various types of data installed in the electronic device, such as program codes for installing the electronic device. The memory 720 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a foreign object detection program 740 is stored on the memory 720, and the foreign object detection program 740 can be executed by the processor 710, thereby realizing the lane scanning method based on the robot arm in each embodiment of the present application.

[0109] In some embodiments, the processor 710 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 720, such as executing a lane scanning method based on a robot arm.

[0110] In some embodiments, the display 730 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an oLED (organic light-emitting diode) touch device, etc. The display 730 is used to display information on the lane scanning device based on the robot arm and to display a visual user interface. The components 710-730 of the electronic device communicate with each other via a system bus.

[0111] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the program can be stored in a computer-readable storage medium, and the program can include the processes of the above-mentioned method embodiments when executed. The storage medium can be a memory, a disk, an optical disk, etc.

[0112] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A laneway scanning method based on a robotic arm, characterized in that: include: The preset DH method is used to establish a three-dimensional space coordinate system based on the robotic arm; Obtain the real-time point cloud coordinates of the inner wall of the tunnel and establish a point cloud model; Based on the point cloud model, the range of the abnormal area of ​​the inner wall of the tunnel is obtained, and the coordinates of the abnormal area and the target position scanned by the scanner are determined; According to the coordinates of the abnormal area, a preset RRT algorithm is combined with a preset collision detection method to determine the optimal movement path of the robot arm; Based on the optimal motion path, roughly adjusting the position of the robot arm so that the scanner reaches a preset target position, wherein the preset target position is a position at a set distance from the target position; According to the coordinates of the abnormal area, the robot arm is fine-tuned and traversed multiple times based on a preset target position, so that the scanner reaches the target position to scan the abnormal area.

2. The lane scanning method based on a robotic arm according to claim 1, characterized in that: The method of using the preset DH method to establish a three-dimensional space coordinate system based on the robot arm includes: Select the rotation axis position of each connecting rod as the origin; In the coordinate system o i-1 x i-1 y i-1 z i-1 In z i-1 As the axis, x i-1 The axis rotates the first set angle so that x i-1 Axis and x i The axes are distributed along a preset direction, wherein the preset direction is x i-1 Axis and x i The axes are distributed in the same direction; According to the preset direction, x i-1 Axis along z i-1 The axis is translated by the first set distance so that its x i-1 With x i The axis is in a first preset position, wherein the first preset position is x i-1 Axis and x i The axes are located on the same straight line; According to the first preset position, z i-1 Axis along x i The axis is translated by the second set distance so that the coordinate system o i-1 x i-1 y i-1 z i-1 With coordinate system o i x i y i z i is in a second preset position, wherein the second preset position is a coordinate system o i-1 x i-1 y i-1 z i-1 With coordinate system o i x i y i z i The origin of coincides; According to the second preset position, z i-1 Axis around x i The axis rotates to the second set angle so that z i-1 Axis and z i The axes are located on the same straight line.

3. The lane scanning method based on a robotic arm according to claim 1, characterized in that: The step of obtaining the real-time point cloud coordinates of the inner wall of the tunnel and establishing a point cloud model includes: Adjust the robot arm from a preset initial posture to a posture to be scanned; According to the posture to be scanned, a moving scanning method is adopted to collect the real-time point cloud coordinates of the inner wall of the tunnel, and a point cloud model is established.

4. The lane scanning method based on a robotic arm according to claim 1, characterized in that: The method of obtaining the range of the abnormal area of ​​the inner wall of the tunnel based on the point cloud model and determining the coordinates of the abnormal area and the target position scanned by the scanner includes: based on the point cloud model, using a preset hole recognition method to identify the abnormal area of ​​the point cloud model.

5. The lane scanning method based on a robotic arm according to claim 1, characterized in that: The method of determining the optimal movement path of the robot arm by combining a preset RRT algorithm with a preset collision detection method according to the coordinates of the abnormal area includes: Get the start and end points of the scanner; According to the starting point and the end point, a preset RRT algorithm is used to plan the path of the robot arm to obtain multiple feasible paths; Based on the feasible paths, a preset collision detection method is used to obtain an optimal path with the shortest path among the feasible paths.

6. The lane scanning method based on a robot arm according to claim 1, characterized in that: Based on the optimal motion path, the position and posture of the robot arm are roughly adjusted, including: Predicting the target position of the robotic arm according to the coordinates of the abnormal area; Obtaining the projection of the robot arm posture in the current state and the target posture on a preset plane; Based on the projection, the angles between the links of the robotic arm are adjusted so that the robotic arm coincides with the target posture in the preset plane.

7. The lane scanning method based on a robot arm according to claim 1, characterized in that: The method of fine-tuning the robot arm multiple times based on the preset target position according to the coordinates of the abnormal area so that the scanner reaches the target position to scan the abnormal area includes: Get the current angle between the links of the robot arm at the preset target position; Based on the current angle, the angle of the mechanical arm closest to the scanner is adjusted in sequence so that the preset target position coincides with the target position.

8. A tunnel scanning method and device based on a robotic arm, characterized in that: include: A coordinate system establishment module is used to establish a three-dimensional space coordinate system based on the robot arm using a preset DH method; Modeling module, used to obtain the real-time point cloud coordinates of the inner wall of the tunnel and establish a point cloud model; An acquisition module, used to acquire the range of the abnormal area of ​​the inner wall of the tunnel based on the point cloud model, and determine the coordinates of the abnormal area and the target position scanned by the scanner; An optimal path acquisition module, used to determine the optimal movement path of the robot arm by combining a preset RRT algorithm with a preset collision detection method according to the coordinates of the abnormal area; A posture adjustment module, used for roughly adjusting the posture of the robot arm based on the optimal motion path, so that the scanner reaches a preset target position, wherein the preset target position is a position at a set distance from the target position; The posture adjustment scanning module is used to perform multiple fine-tuning traversals on the robot arm based on the coordinates of the abnormal area and a preset target position, so that the scanner reaches the target position to scan the abnormal area.

9. An electronic device, characterized in that: include: Processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps of the lane scanning method based on a robotic arm are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the lane scanning method based on a robot arm as described in any one of claims 1-7.

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