High-precision steel plate detection robot positioning system and method thereof

Abstract

The invention discloses a high-precision steel plate detection robot positioning system and method, and an outer frame structure, the outer frame structure is a rectangular frame body, has a fixed height and a neat and smooth edge, is provided with reflective stripes for laser ranging on the inner wall, is used for providing a benchmark reference, is placed in the outer frame structure, and is used for moving an industrial robot on a steel plate for detection; the outer frame structure is large in size and can be adjusted according to a specific application environment, high-precision positioning is achieved through measurement data of the laser range finder, the range finding precision reaches about 3 mm, the requirement for large-size steel plate detection can be met, the system is simple in design, the laser range finder and the calculation unit which are relatively low in cost are adopted, and the overall cost of the system is reduced; the steel plate detection industrial robot positioning system is simple in structure, high in precision, low in cost and high in adaptability, effectively solves many problems in the prior art, and improves the application efficiency and precision of an industrial robot in large-size steel plate detection.

Description

Technical Field

[0001] The present invention belongs to the technical field, and in particular relates to a high-precision steel plate detection robot positioning system and method thereof. Background Art

[0002] With the development of industrial automation, industrial robots are increasingly used in manufacturing, inspection and maintenance. Especially in large-scale metal processing industries such as shipbuilding, bridge construction and the production of large structural parts, steel plate inspection has become an important task. Traditional steel plate inspection methods usually use manual inspection or semi-automatic inspection, which is not only time-consuming and labor-intensive, but also prone to errors, affecting production efficiency and product quality.

[0003] The existing steel plate detection system mainly has the following problems:

[0004] Low positioning accuracy: Most existing robot positioning systems have low positioning accuracy in large-scale indoor environments and are difficult to meet high-precision detection requirements.

[0005] High cost: High-precision positioning systems often require complex sensors and computing equipment, resulting in high system costs.

[0006] Difficult to adapt to large-size steel plates: The inspection of large-size steel plates requires the robot to move in a wide range, which puts higher requirements on the measurement range and accuracy of the positioning system.

[0007] Sensitive to environmental changes: Traditional positioning systems are sensitive to environmental changes, such as light, temperature, magnetic field, etc., which can easily affect the positioning results.

[0008] Therefore, there is an urgent need for a high-precision, low-cost positioning system suitable for large-size steel plate detection to improve detection efficiency and accuracy. The present invention aims to solve the above problems by combining laser ranging technology and unique system design, and provides a high-precision industrial robot steel plate detection and positioning system. Summary of the invention

[0009] The object of the present invention is to provide a high-precision steel plate inspection robot positioning system and method thereof to solve the above-mentioned problems.

[0010] To achieve the above object, the present invention provides the following technical solution: a high-precision steel plate inspection robot positioning method, comprising an outer frame structure, a steel plate to be inspected, a robot positioning device and a steel plate angle positioning assembly, and the specific steps are as follows:

[0011] Step 1: Start the system: After the system is started, the robot positioning device starts to move on the steel plate to be tested for testing;

[0012] Step 2: Laser ranging:

[0013] (1) The robot positioning device measures the distance to the reflective strip on the inner wall of the outer frame structure through a laser rangefinder, including the laser rangefinder measuring the distance to the reflective strip in four directions of the X and Y axes;

[0014] (2) The distances of the four sides of the steel plate to be measured relative to different positions of the outer frame structure are measured by the steel plate angle positioning assembly, and the inclination angle of the steel plate to be measured is calculated according to the model and size of the steel plate to be measured;

[0015] Step 3: Positioning calculation: Based on the inclination angle of the steel plate to be tested relative to the outer frame structure and the vertical distance between the robot positioning device and the outer frame structure obtained in step 2, it is inferred that the robot positioning device is at a certain position of the steel plate to be tested relative to the inclined steel plate to be tested;

[0016] Step 4: Steel plate detection. After calculating in step 3 that the robot positioning device is in a certain position relative to the inclined steel plate, the data is transmitted to the background terminal. The inclined steel plate to be tested is used as a new coordinate system, and the robot positioning device performs a full range of steel plate detection relative to the new coordinate system in the new coordinate system.

[0017] Preferably, the robot positioning device includes a laser rangefinder and a positioning calculation unit, and the laser rangefinder is installed one in each of the four directions of the X and Y axes.

[0018] Preferably, the steel plate angle positioning device includes at least two short-range laser rangefinders installed at the four corners of the outer frame structure, which are used to measure the distance to the corners of the steel plate being measured respectively, and calculate the overall placement position of the steel plate, the precise position coordinates of the four corners and the inclination angle of the steel plate through the measurement data.

[0019] A high-precision steel plate inspection robot positioning system, a system applying the method of claim 1, wherein the outer frame structure is a rectangular frame with a fixed height and neat and smooth edges, and its inner wall is arranged with reflective strips for laser ranging, and the robot positioning device is placed on the steel plate to be inspected.

[0020] The technical effects and advantages of the present invention are as follows: high-precision positioning is achieved through the measurement data of the laser rangefinder, and the distance measurement accuracy reaches about 3 mm, which can meet the needs of large-size steel plate detection; low cost: the system design is simple, and a relatively low-cost laser rangefinder and computing unit are used, which reduces the overall cost of the system; wide range adaptability: the system's measurement range reaches 50 meters, which is suitable for the detection of various large-size steel plates; insensitive to environmental changes: through design, the system is less affected by environmental changes such as light and temperature, which improves the stability of the system; easy to install and maintain: the system has a simple structure, is easy to install and maintain, and reduces maintenance costs; the present invention provides a high-precision, low-cost, and highly adaptable steel plate detection industrial robot positioning system, which effectively solves many problems in the prior art and improves the application efficiency and accuracy of industrial robots in large-size steel plate detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a top view of the high-precision steel plate detection industrial robot positioning system of the present invention, showing the layout of the outer frame structure, the steel plate to be detected, and the robot positioning device.

[0022] Figure 2 It is a stereoscopic view of the robot positioning device, showing the positions of the laser rangefinder and the positioning calculation unit.

[0023] Figure 3 It is a schematic diagram of the steel plate angle positioning device measuring the distance to the four corners of the measured steel plate through a short-range laser rangefinder.

[0024] Figure 4 It is a schematic diagram of the distance measurement data of the robot positioning device.

[0025] Figure 5 This is the workflow diagram of the industrial robot positioning system for steel plate inspection. DETAILED DESCRIPTION

[0026] 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.

[0027] The present invention provides a high-precision steel plate inspection robot positioning system and method as shown in the figure. Figure 1As shown, the present invention discloses a high-precision steel plate inspection robot positioning system, including: an outer frame structure, which is a rectangular frame body with a fixed height and neat and smooth edges, and its inner wall is arranged with a reflective strip for laser ranging to provide a reference. The size of the outer frame structure is relatively large and can be adjusted according to the specific application environment.

[0028] The steel plate to be tested is placed in the outer frame structure, and the robot positioning device moves on the steel plate for testing.

[0029] The robot positioning device is installed on the robot positioning device and includes a laser rangefinder and a positioning calculation unit. Figure 2 The stereoscopic view of the robot positioning device is shown. A laser rangefinder is installed in each of the four directions of the X and Y axes to measure the distance to the reflective strip on the inner wall of the outer frame structure. The positioning calculation unit is used to obtain laser ranging information and perform positioning calculations.

[0030] The steel plate angle positioning device measures the distance to the four corners of the steel plate by a short-distance laser rangefinder to determine the inclination angle of the steel plate.

[0031] The workflow of the system of the present invention is as follows:

[0032] Start the system: After the system is started, the robot positioning device starts to move on the steel plate to be tested for testing. Figure 5 shown.

[0033] Laser distance measurement: The robot positioning device uses a laser distance meter to measure the distance to the reflective strip on the inner wall of the outer frame structure, such as Figure 4 shown. Figure 4 The measurement diagram of the robot positioning device is shown. The laser rangefinder measures the distance to the reflective strip in the four directions of the X and Y axes.

[0034] Positioning calculation: The positioning calculation unit obtains the laser ranging information and calculates the high-precision position information of the robot positioning device on the steel plate, such as Figure 5 As shown in the figure, during the movement of the robot, a small deviation angle may occur, such as Figure 4 As shown, the distance measurement information in the X or Y axis direction will exceed the size of the outer frame structure. The positioning calculation unit can calculate the deflection angle through these measurement data and control the robot positioning device to adjust the deflection angle to ensure accurate positioning on the steel plate;

[0035] Assumption: There are two laser rangefinders on the edge of the steel plate corner A, and the coordinates of No. 1 are (x AB ,y AB ), the distance to the edge of the steel plate is measured as d AB , the coordinates of No. 2 are (x AD ,y AD ), the distance to the edge of the steel plate is measured as d AD

[0036] Steel plate corner point A(x 1 ,y 1 ) is calculated by:

[0037] x 1 =x AB +d AB

[0038] y 1 =y AD +d AD

[0039] Similarly, the coordinates of other corner points B(x 2 ,y 2 ), C(x 3 ,y 3 ), D(x 4 ,y 4 ).

[0040] According to the positions of the four corner points of the steel plate, the placement angle of its AB side relative to the outer frame can be obtained

[0041]

[0042] Where θ is the deflection angle of the steel plate, (x 1 ,y 1 ) is the coordinate of the steel plate corner point A, (x 2 ,y 2 ) is the coordinate of the corner point B of the steel plate.

[0043] Steel plate angle positioning: The steel plate angle positioning device measures the distance to the four corners of the steel plate by a short-range laser rangefinder, such as Figure 3 As shown, the overall placement position of the steel plate, the precise position coordinates of the four corners and the inclination angle of the steel plate are calculated through the measurement data;

[0044] The laser ranging sensor on the robot positioning device calculates the robot's directional angle on the steel plate and controls the robot to return to the center position:

[0045] Assuming that the width of the outer frame structure is d, and the sum of the distances measured by the robot positioning device in the axis direction is d', the deflection angle of the robot is θ=arccos(d / d').

[0046] Wherein, θ is the deflection angle of the robot, d is the actual width of the outer frame structure, and d' is the width of the outer frame structure measured by the robot positioning device.

[0047] Movement of the robot positioning device: Based on the high-precision position information obtained, the robot positioning device moves to ensure accurate positioning on the steel plate and perform inspection work. During the inspection process, the robot will continue to obtain positioning information to ensure its accurate position, such as Figure 5 shown.

[0048] The present invention achieves a positioning accuracy of about 3 mm within a larger size range through laser ranging technology, is suitable for the detection of large-size steel plates, has a simple system structure, low cost, and is insensitive to environmental changes, and has broad application prospects.

[0049] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-precision steel plate inspection robot positioning method, comprising an outer frame structure, a steel plate to be inspected, a robot positioning device and a steel plate angle positioning assembly, characterized in that: The specific steps are as follows: Step 1: Start the system: After the system is started, the robot positioning device starts to move on the steel plate to be tested for testing; Step 2: Laser ranging: (1) The robot positioning device measures the distance to the reflective strip on the inner wall of the outer frame structure through a laser rangefinder, including the laser rangefinder measuring the distance to the reflective strip in four directions of the X and Y axes; (2) The distances of the four sides of the steel plate to be measured relative to different positions of the outer frame structure are measured by the steel plate angle positioning assembly, and the inclination angle of the steel plate to be measured is calculated according to the model and size of the steel plate to be measured; Step 3: Positioning calculation: Based on the inclination angle of the steel plate to be tested relative to the outer frame structure and the vertical distance between the robot positioning device and the outer frame structure obtained in step 2, it is inferred that the robot positioning device is at a certain position of the steel plate to be tested relative to the inclined steel plate to be tested; Step 4: Steel plate detection. After calculating in step 3 that the robot positioning device is in a certain position relative to the inclined steel plate, the data is transmitted to the background terminal. The inclined steel plate to be tested is used as a new coordinate system, and the robot positioning device performs a full range of steel plate detection relative to the new coordinate system in the new coordinate system.

2. A high-precision steel plate inspection robot positioning method according to claim 1, characterized in that The steel plate angle positioning component can be used to measure the corner position of the steel plate and its placement angle: Assumption: There are two laser rangefinders on the edge of the steel plate corner A, and the coordinates of No. 1 are (x AB ,y AB ), the distance to the edge of the steel plate is measured as d AB , the coordinates of No. 2 are (x AD ,y AD ), the distance to the edge of the steel plate is measured as d AD The coordinate calculation formula of the steel plate corner point A (x1, y1) is: x1=x AB +d AB y1=y AD +d AD Similarly, the coordinates of other corner points B(x2,y2), C(x3,y3), and D(x4,y4) can be calculated. According to the positions of the four corner points of the steel plate, the placement angle of its AB side relative to the outer frame can be obtained Where θ is the deflection angle of the steel plate, (x1, y1) is the coordinate of the corner point A of the steel plate, and (x2, y2) is the coordinate of the corner point B of the steel plate.

3. A high-precision steel plate inspection robot positioning method according to claim 1, characterized in that The laser ranging sensor on the robot positioning device can be used to calculate the robot's directional deviation on the steel plate and control the robot to return to the center position: Assuming that the width of the outer frame structure is d, and the sum of the distances measured by the robot positioning device in the axis direction is d', the deflection angle of the robot is θ=arccos(d / d'). Wherein, θ is the deflection angle of the robot, d is the actual width of the outer frame structure, and d' is the width of the outer frame structure measured by the robot positioning device.

4. A high-precision steel plate inspection robot positioning system, a system using the high-precision steel plate inspection robot positioning method of claim 1, characterized in that: The outer frame structure is a rectangular frame with a fixed height and neat and smooth edges. The inner wall is arranged with reflective strips for laser ranging. The robot positioning device is placed on the steel plate to be measured.

5. A high-precision steel plate inspection robot positioning system according to claim 4, characterized in that: The robot positioning device comprises a laser rangefinder and a positioning calculation unit, wherein one laser rangefinder is installed in each of four directions of the X and Y axes.

6. A high-precision steel plate inspection robot positioning system according to claim 4, characterized in that: The steel plate angle positioning device includes at least two short-range laser rangefinders installed at the four corners of the outer frame structure, which are used to measure the distance to the corners of the steel plate being measured respectively, and calculate the overall placement position of the steel plate, the precise position coordinates of the four corners and the inclination angle of the steel plate through the measurement data.

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