A high-precision steel plate detection robot positioning system and method

Abstract

The present invention discloses a high-precision steel plate inspection robot positioning system and method thereof. The outer frame structure is a rectangular frame with a fixed height and neat and smooth edges. The inner wall of the frame is arranged with a reflective strip for laser ranging, which is used to provide a benchmark reference and is placed in the outer frame structure. The industrial robot moves on the steel plate for inspection. The size of the outer frame structure is large and can be adjusted according to the specific application environment. High-precision positioning is achieved through the measurement data of the laser rangefinder. The ranging accuracy reaches about 3 mm, which can meet the needs of large-size steel plate inspection. The system design is simple and adopts a relatively low-cost laser rangefinder and a computing unit, which reduces the overall cost of the system. The high-precision, low-cost, and highly adaptable steel plate inspection industrial robot positioning system effectively solves many problems in the existing technology and improves the application efficiency and accuracy of the industrial robot in large-size steel plate inspection.

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 advancement of industrial automation, industrial robots are increasingly being used in manufacturing, inspection, and maintenance. Steel plate inspection has become a crucial task, particularly in large-scale metalworking industries such as shipbuilding, bridge construction, and the production of large structural components. Traditional steel plate inspection methods typically rely on manual or semi-automatic testing, which is not only time-consuming and labor-intensive but also prone to errors, impacting 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, making it 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 over a wide range, which places 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, and magnetic fields, which can easily affect 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 objectives, the present invention provides the following technical solutions: 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 corner 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 measuring the distance to the reflective strip in four directions of the X and Y axes by the laser rangefinder;

[0014] (2) The distances between the four sides of the steel plate to be tested and the 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 tested is calculated according to the model and size of the steel plate to be tested;

[0015] Step 3: Positioning calculation: Based on the inclination angle of the steel plate under test 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 calculated that the robot positioning device is located at a certain position of the steel plate under test relative to the inclined steel plate under test;

[0016] Step 4: Steel plate detection. After calculating the position of the robot positioning device relative to the tilted steel plate in step 3, the data is transmitted to the background terminal. The tilted steel plate to be tested is used as the 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 one laser rangefinder is installed 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, 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. 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 installation and maintenance: 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 existing technology 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 inspection industrial robot positioning system of the present invention, showing the layout of the outer frame structure, the steel plate to be inspected, and the robot positioning device.

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

[0023] Figure 3 This is a schematic diagram of the steel plate angle positioning device measuring the distance to the four corners of the measured steel plate using 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 steel plate inspection industrial robot positioning system. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0027] The present invention provides a high-precision steel plate detection 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, comprising an outer frame structure, a rectangular frame of fixed height and smooth edges, the inner wall of which is provided with reflective strips for laser ranging, providing a reference. 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 A three-dimensional view of the robot's positioning system is shown. Laser rangefinders, one each on the X and Y axes, are used to measure the distance to the reflective strips on the inner wall of the outer frame. A positioning calculation unit is used to obtain the laser ranging information and perform positioning calculations.

[0030] The steel plate angle positioning device uses a short-range laser rangefinder to measure the distance to the four corners of the steel plate 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, such as Figure 5 shown.

[0033] Laser distance measurement: The robot positioning device uses a laser rangefinder 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, there may be a small deviation angle, 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 based on 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] The coordinate calculation formula of the steel plate corner point A (x1, y1) is:

[0037] x1=x AB +d AB

[0038] y1=y AD +d AD

[0039] Similarly, the coordinates of other corner points B(x2,y2), C(x3,y3), and D(x4,y4) can be calculated.

[0040] According to the position 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, (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.

[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 X-axis direction is d', the deflection angle of the robot is β = arccos (d / d').

[0046] Where β is the deflection angle of the robot.

[0047] Movement of the robot positioning device: Based on the acquired high-precision position information, 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 uses laser ranging technology to achieve a positioning accuracy of about 3 mm within a large size range. It is suitable for the detection of large-size steel plates. The system has a simple structure, low cost, and is insensitive to environmental changes. It 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, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or 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 scope of protection of the present invention.

Claims

1. A high-precision steel plate inspection robot positioning method, which is implemented by a high-precision steel plate inspection robot positioning system, the high-precision steel plate inspection robot positioning system comprising an outer frame structure, a steel plate to be inspected, a robot positioning device and a steel plate corner positioning assembly, wherein the outer frame structure is a rectangular frame with a fixed height and neat and smooth edges, and a reflective strip for laser ranging is arranged on its inner wall, and the robot positioning device is placed on the steel plate to be inspected; the robot positioning device comprises a laser rangefinder and a positioning calculation unit, wherein the laser rangefinder is installed one in each of the four directions of the X and Y axes; the steel plate corner positioning device comprises at least two short-range laser rangefinders, which are installed at the four corners of the outer frame structure for respectively measuring the distance to the corners of the steel plate to be inspected, and calculating 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, 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 measuring the distance to the reflective strip in four directions of the X and Y axes by the laser rangefinder; (2) The distances between the four sides of the steel plate to be tested and the 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 tested is calculated according to the model and size of the steel plate to be tested; Step 3: Positioning calculation: Based on the inclination angle of the steel plate under test 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 calculated that the robot positioning device is located at a certain position of the steel plate under test relative to the inclined steel plate under test; Step 4: Steel plate detection. After calculating the position of the robot positioning device relative to the tilted steel plate in step 3, the data is transmitted to the background terminal. The tilted steel plate to be tested is used as the 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 corner positioning component is 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 Calculate the coordinates of other corner points B(x2,y2), C(x3,y3), D(x4,y4); According to the position of the four corner points of the steel plate, the placement angle of its AB side relative to the outer frame is 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 calculates the robot's directional angle on the steel plate and controls the robot to return to the center position: Assuming the width of the outer frame is d, and the sum of the distances measured by the robot positioning device in the x-axis direction is d', the robot's deflection angle is β = arccos(d / d'); Where β is the deflection angle of the robot.

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