CN106965179A - The vision positioning system and method for a kind of industrial robot - Google Patents
The vision positioning system and method for a kind of industrial robot Download PDFInfo
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- CN106965179A CN106965179A CN201710227347.3A CN201710227347A CN106965179A CN 106965179 A CN106965179 A CN 106965179A CN 201710227347 A CN201710227347 A CN 201710227347A CN 106965179 A CN106965179 A CN 106965179A
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- industrial robot
- unmanned plane
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- host computer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of vision positioning system of industrial robot and method, wherein described system includes multiple industrial robots, multiple and the one-to-one unmanned plane of the industrial robot and host computer, each described industrial robot is communicated by the unmanned plane with host computer, interaction locations data and request data, it is provided with the industrial robot in the first battery and the first power management module, the unmanned plane and is provided with the second battery and second source management module.The present invention can obtain positional information by the binocular identification of industrial robot, and position data is obtained by GPS location by unmanned plane, position is corrected and data transfer in the map stored to landmark in host computer, multiple industrial robots can work in coordination, the unified management of extensive group robot is particularly suitable for use in, host computer can realize map rejuvenation and path planning, simple in construction, using convenient, it is adaptable to large-scale promotion application.
Description
Technical field
The present invention relates to intelligent robot technology field, more particularly to industrial robot field of locating technology, specifically refer to
The vision positioning system and method for a kind of industrial robot.
Background technology
Group robot is special multi-robot system, is made up of many indiscriminate autonomous robots, with typical
Distributed system feature.The limited individual robot of the main Research Ability of group robot embodies group by interaction, coordination and control
Body intelligence completes relative complex assignment of mission with cooperation.For same task, if complicated, expensive with one
Single robot is performed, it may be difficult to competent or inefficiency.
With continuing to develop for sensor technology and mobile robot technology, the control technology of group robot is also entered
The raising of one step.Traditional group robot controller is such as used as logical primarily directed to the control of multirobot by wireless network card
The main media of letter controls motion of multi-robots；But group robot can not be realized to the control of multirobot using prior art
Collective's cooperation, interaction and path planning etc..Meanwhile, when having multiple industrial robots in a wide range of, easy-to-search is not allowed in position,
And it is very difficult to transmit data.
The content of the invention
The invention provides a kind of vision positioning system of industrial robot and method, its object is to overcome prior art
In defect, positional information can be obtained by the identification of the binocular of industrial robot, and position correction is carried out by unmanned plane
And data transfer, multiple industrial robots can work in coordination, and be particularly suitable for use in the unified management of extensive group robot.
To achieve these goals, the present invention has following composition：
A kind of vision positioning system of industrial robot, it is mainly characterized by, and the system includes：
Unmanned plane erecting bed is installed at the top of multiple industrial robots, each described industrial robot, each described work
The side of industry robot is provided with the first camera and second camera, and the first nothing is additionally provided with each described industrial robot
Line communication module, the first power management module and the first battery, the upper surface of the unmanned plane erecting bed are provided with charging
Mouthful, the charging inlet is connected with the first battery of the industrial robot；
It is multiple with the one-to-one unmanned plane of the industrial robot, each described unmanned plane be removably installed in pair
In the unmanned plane erecting bed answered, be additionally provided with second source management module and the second battery in the unmanned plane, it is described nobody
The side of machine is provided with the 3rd camera, and the lower surface of the unmanned plane is provided with charging plug, the charging plug with it is described
Second battery is connected, and the charging plug is corresponding with the charging inlet of corresponding industrial robot, described in each
Be provided with unmanned plane d GPS locating module, GPS signal strength detection module, wireless signal strength detection module, photographing module and
Second wireless communication module, second wireless communication module is led to first wireless communication module and host computer respectively
Letter；
Host computer, the host computer includes the 3rd wireless communication module, map rejuvenation module and path planning module, described
3rd wireless communication module is communicated with second wireless communication module, and the map rejuvenation module is according to the unmanned plane
The position data of transmission updates the map of storage, and the path planning module is each described industrial robot path planning, and
Route Planning Data is sent to the unmanned plane.
Alternatively, the side of each industrial robot is additionally provided with laser positioning module and infrared human body sensing mould
Block, the laser positioning module includes laser generator, laser pickoff and distance analysis unit, and the infrared human body senses mould
Block includes infrared collection device and infrared induction analytic unit, and the inside of the industrial robot is additionally provided with control module, institute
State control module respectively with first camera, second camera, the first wireless communication module, the first power management module,
First battery, distance analysis unit are connected with infrared induction analytic unit.
Alternatively, the unmanned plane erecting bed includes support bar, multi-directional ball and support platform, and one end of the support bar is pacified
Mounted in the top of the industrial robot, the multi-directional ball is arranged on the other end of the support bar, and the support platform is installed
In in the multi-directional ball, being provided with a rotating mechanism in the support platform, the rotating mechanism rotates in the horizontal plane, described
Unmanned plane is installed on the rotating mechanism；
The rotating mechanism includes rotary drive motor, driving motor output shaft, lower disc and upper disk, the lower disc
It is in contact with the multi-directional ball, the driving motor output shaft, and the driving is equipped between the lower disc and upper disk
Motor output shaft is rotatably connected with the lower disc, and the driving motor output shaft is fixedly connected with the upper disk.
The present invention also provides a kind of vision positioning method of industrial robot, using described vision positioning system, including
Following steps：
Each described industrial robot obtains shooting image by first camera and second camera, and selects to clap
The landmark taken the photograph in image, industrial robot is calculated in itself to the landmark by principle of triangulation
Distance；
The unmanned plane obtains the industrial robot in itself to the distance of the landmark, and by described
D GPS locating module obtains current location data, and range data and position data are sent to the host computer；
The host computer judges the work according to the position and the range data of landmark in the map of storage
The position of industry robot, and will determine that the position that the position of obtained industrial robot is obtained with d GPS locating module is compared,
When there is the deviation more than predetermined threshold value, the map of storage is updated；
The host computer calculates the industrial robot programme path according to the position of the industrial robot, and by route
Layout data is sent to the industrial robot by the unmanned plane.
Alternatively, the GPS signal strength detection module of the industrial robot detect GPS signal strength be less than it is default strong
When spending lowest threshold, the unmanned plane flies up automatically departs from the unmanned plane mounting platform, and continues to detect GPS signal strength,
When detecting GPS signal strength more than default lowest threshold, current location number is obtained again through the d GPS locating module
According to, and the industrial robot is shot by the 3rd camera, institute is judged according to the shooting image of the 3rd camera
The relative position of unmanned plane and the industrial robot is stated, and calculates the current location for obtaining the industrial robot；
Unmanned plane flying distance after the unmanned plane mounting platform is departed from is more than pre-set flight threshold value, and detects
When GPS signal strength is still less than default lowest threshold, the unmanned plane detects predetermined detection area by the 3rd camera
Interior landmark, and obtain the current position of the unmanned plane, Ran Houtong by gathering the image of landmark
Cross the 3rd camera and shoot the industrial robot, the unmanned plane is judged according to the shooting image of the 3rd camera
The current location of the industrial robot is obtained with the relative position of the industrial robot, and calculating.
Alternatively, the unmanned plane can not detect the landmark building in predetermined detection area by the 3rd camera
During thing, rotate in place 360 ° and continue to shoot, will shoot obtained video or panoramic picture is sent to the host computer, it is described on
The video or panoramic picture that position machine is shot according to the unmanned plane are compared with a variety of environmental datas stored, estimate the nothing
Man-machine position, searches guidance information, and will estimate obtained position data and lookup according to the estimated position of the unmanned plane
Guidance information send together to the unmanned plane.
Alternatively, the internal storage memory capacity of the industrial robot completely when, the unmanned plane with apart from described
Other nearest industrial robots of industrial robot are communicated, and the storage capacity information of other industrial robots are obtained, when it
When his industrial robot free memory is more than data storage size to be transferred, the unmanned plane is from the full work of memory capacity
Industry robot obtains data storage to be transferred, and the data storage to be transferred is passed by the unmanned plane of other industrial robots
It is handed to corresponding industrial robot；
Other industrial robots pass through success access information corresponding after the data storage to be transferred is successfully accessed
Industrial robot is sent to the unmanned plane of the full industrial robot of memory capacity, notifies that memory capacity is full by the unmanned plane
Industrial robot deletes data storage to be transferred；
The available storage of other industrial robots nearest apart from the industrial robot is less than storage number to be transferred
According to when, the unmanned plane of the full industrial robot of memory capacity continues to search for next closest industrial robot, and with
It is communicated；
The unmanned plane of the full industrial robot of memory capacity in default other industrial robots that can be in favored area of traversal,
When can not find free memory and being more than the industrial robot of data storage size to be transferred, the unmanned plane is to described upper
Machine, which is sent, returns to request, and the host computer sends route planning data to the unmanned plane, and the industrial robot is according to described
Route planning data are back to base station.
Alternatively, the unmanned plane erecting bed includes support bar, multi-directional ball and support platform, and one end of the support bar is pacified
Mounted in the top of the industrial robot, the multi-directional ball is arranged on the other end of the support bar, and the support platform is installed
In in the multi-directional ball, being provided with a rotating mechanism in the support platform, the rotating mechanism rotates in the horizontal plane, described
Unmanned plane is installed on the rotating mechanism；
The rotating mechanism includes rotary drive motor, driving motor output shaft, lower disc and upper disk, the lower disc
It is in contact with the multi-directional ball, the driving motor output shaft, and the driving is equipped between the lower disc and upper disk
Motor output shaft is rotatably connected with the lower disc, and the driving motor output shaft is fixedly connected with the upper disk；
The default collection period of host computer setting, each described industrial robot includes timing module, the timing
Module is added up to travel time, when walking between reach after default collection period, the industrial robot stops walking, institute
State unmanned plane to be rotated by 360 ° by the rotating mechanism, and continue shooting image or video, and by shooting image or video or institute
The position data for stating d GPS locating module acquisition is sent to the host computer together；
After the unmanned plane shooting is finished, the timing module of the industrial robot will be reset the time, the industrial machine
People restarts walking, and the timing module restarts timing of walking.
Alternatively, when the first accumulator electric-quantity of the industrial robot is less than default power threshold, the unmanned plane with
Other industrial robots nearest apart from the industrial robot are communicated, and obtain the first battery of other industrial robots
Electricity, when other accumulator electric-quantities of industrial robot first are more than electricity size to be transferred, the unmanned plane is from this other
Industrial robot obtains electricity to be transferred, and the electricity to be transferred is transferred into the first accumulator electric-quantity less than default electricity threshold
The industrial robot of value；
First accumulator electric-quantity of other industrial robots nearest apart from the industrial robot is less than electricity to be transferred
During size, the unmanned plane that the first accumulator electric-quantity is less than the industrial robot of default power threshold continues to search for next distance most
Near industrial robot, and be in communication with.
Alternatively, the first accumulator electric-quantity be less than the unmanned plane of the industrial robot of default power threshold traversal is default can
Other industrial robots in favored area, it is impossible to find the industrial robot that the first accumulator electric-quantity is more than electricity size to be transferred
When, the unmanned plane is sent to the host computer returns to request, and the host computer sends route planning data to the unmanned plane,
The industrial robot is back to base station according to the route planning data.
The vision positioning system and method for a kind of industrial robot in the invention are employed, industrial machine crowd is realized
In multiple industrial robots Automated condtrol and be accurately positioned respectively, position can be obtained by the binocular identification of industrial robot
Information, and position data, the map stored to landmark in host computer are obtained by GPS location by unmanned plane
Middle position is corrected and data transfer, and multiple industrial robots can work in coordination, and is particularly suitable for use in extensive group robot
Unified management, host computer can realize map rejuvenation and path planning, simple in construction, using convenient, it is adaptable to push away on a large scale
Wide application.
Brief description of the drawings
Fig. 1 is the structural representation of the vision positioning system of the industrial robot of the present invention；
Fig. 2 is the structural representation of the industrial robot of the present invention；
Fig. 3 is the control module structured flowchart of the industrial robot of the present invention；
Fig. 4 is the structural representation of the unmanned plane erecting bed of the industrial robot of the present invention；
Fig. 5 is the structural representation of the rotating mechanism of the unmanned plane erecting bed of the present invention；
Fig. 6 is the flow chart of the vision positioning method of the industrial robot of the present invention；
Fig. 7 is the schematic diagram of the triangulation location method of the industrial robot of the present invention.
Reference：
1 industrial robot
11 unmanned plane erecting beds
111 support bars
112 multi-directional balls
113 support platforms
114 rotary drive motors
115 driving motor output shafts
116 lower discs
Disk on 117
12 first cameras
13 second cameras
14 charging inlets
2 unmanned planes
21 charging plugs
22 the 3rd cameras
3 host computers
4 landmarks
Embodiment
In order to more clearly describe the technology contents of the present invention, carried out with reference to specific embodiment further
Description.
Robot localization is to determine process of the mobile robot in the locus of local environment.Positioning is in real time for robot
Referring to the localization method and its soft hardware equipment of robot use in time, correctly can determine mobile robot in local environment
The ability of locus, it is that robot control system can control machine people moves correctly, in time to meet real-time positioning requirements
One of precondition.
As shown in Figures 1 to 3, the invention provides a kind of vision positioning system and method for industrial robot 1, the system
Including：
Multiple industrial robots 1, the top of each industrial robot 1 is provided with unmanned plane erecting bed 11, each institute
The side for stating industrial robot 1 is provided with the first camera 12 and second camera 13, is also set in each described industrial robot 1
It is equipped with the first wireless communication module, the first power management module and the first battery, the upper surface of the unmanned plane erecting bed 11
Charging inlet 14 is provided with, the charging inlet 14 is connected with the first battery of the industrial robot 1；
The multiple and one-to-one unmanned plane 2 of the industrial robot 1, each described unmanned plane 2 is removably installed in
In corresponding unmanned plane erecting bed 11, second source management module and the second battery, institute are additionally provided with the unmanned plane 2
The side for stating unmanned plane 2 is provided with the 3rd camera 22, and the lower surface of the unmanned plane 2 is provided with charging plug 21, described to fill
Plug 21 is connected with second battery, and the charging of the charging plug 21 and corresponding industrial robot 1
Mouth 14 is corresponding, so that the first battery can be the charging of the second battery, it is ensured that the electricity of unmanned plane 2 is sufficient, each
D GPS locating module, GPS signal strength detection module, wireless signal strength detection module, shooting are provided with the unmanned plane 2
Module and the second wireless communication module, second wireless communication module respectively with first wireless communication module and host computer
3 are communicated；It can also be communicated with each other between each unmanned plane 2, interactive information, it might even be possible to interact electricity；
Host computer 3, the host computer 3 includes the 3rd wireless communication module, map rejuvenation module and path planning module, institute
The 3rd wireless communication module is stated to be communicated with second wireless communication module, the map rejuvenation module according to it is described nobody
The position data that machine 2 is sent updates the map of storage, and the path planning module is each planning of industrial robot 1 road
Footpath, and Route Planning Data is sent to the unmanned plane 2.
The method for carrying out vision positioning using above-mentioned vision positioning system will be described in detail hereinafter.
In a preferred embodiment, the side of each industrial robot 1 is additionally provided with laser positioning module
With infrared human body induction module, the laser positioning module includes laser generator, laser pickoff and distance analysis unit, institute
Stating infrared human body induction module includes infrared collection device and infrared induction analytic unit, and the inside of the industrial robot 1 is also
Be provided with control module, the control module respectively with first camera 12, second camera 13, the first radio communication mold
Block, the first power management module, the first battery, distance analysis unit are connected with infrared induction analytic unit.
Laser positioning module is that industrial robot 1 provides another positioning method, and can be helped by laser detection
Help the avoiding obstacles well of industrial robot 1, it is to avoid bumped against during traveling.
As shown in Figures 4 and 5, in a preferred embodiment, the unmanned plane erecting bed 11 include support bar 111,
Multi-directional ball 112 and support platform 113, one end of the support bar 111 are arranged on the top of the industrial robot 1, described ten thousand
The other end of the support bar 111 is arranged on to ball 112, the support platform 113 is installed in the multi-directional ball 112, described
A rotating mechanism is provided with support platform 113, the rotating mechanism rotates in the horizontal plane, the unmanned plane 2 is installed on institute
State on rotating mechanism；
The rotating mechanism includes rotary drive motor 114, driving motor output shaft 115, lower disc 116 and upper disk
117, the lower disc 116 is in contact with the multi-directional ball 112, is equipped between the lower disc 116 and upper disk 117 described
Driving motor output shaft 115, and the driving motor output shaft 115 is rotatably connected with the lower disc 116, the driving electricity
Machine output shaft 115 is fixedly connected with the upper disk 117.
Level meter is also provided with the support platform 113, supporting can be ensured by multi-directional ball 112 and level meter
Platform is in horizontality all the time, and rotating device enables camera to obtain comprehensive vision signal.
As shown in fig. 6, the present invention also provides a kind of vision positioning method of industrial robot 1, it is fixed using described vision
Position system, comprises the following steps：
S100：Each described industrial robot 1 obtains shooting figure by first camera 12 and second camera 13
Picture, and the landmark in shooting image is selected, industrial robot 1 itself is calculated to the mark by principle of triangulation
The distance of will building；As shown in fig. 7, be the figure of principle of triangulation, wherein, two cameras 12 and 13 gather image side
To for L1 and L2, L3 and L4 distance can be obtained, the length for obtaining L5 is calculated accordingly, as industrial robot 1 with it is significant
The distance of building 4；
S200：The unmanned plane 2 obtains the industrial robot 1 itself to the distance of the landmark, and leads to
Cross the d GPS locating module and obtain current location data, and range data and position data are sent to the host computer 3；
S300：The host computer 3 judges according to the position of landmark in the map of storage and the range data
The position of the industrial robot 1, and will determine that the position that the position of obtained industrial robot 1 is obtained with d GPS locating module
It is compared, when there is the deviation more than predetermined threshold value, updates the map of storage；
S400：The host computer 3 calculates the programme path of industrial robot 1 according to the position of the industrial robot 1,
And send route planning data to the industrial robot 1 by the unmanned plane 2.
In a preferred embodiment, the GPS signal strength detection module of the industrial robot 1 detects GPS
When signal intensity is less than preset strength lowest threshold, the unmanned plane 2 flies up automatically departs from the mounting platform of unmanned plane 2, and
GPS signal strength is persistently detected, when detecting GPS signal strength more than default lowest threshold, again through the GPS location
Module obtains current location data, and shoots the industrial robot 1 by the 3rd camera 22, is taken the photograph according to the described 3rd
As first 22 shooting image judges that the relative position of the unmanned plane 2 and the industrial robot 1, and calculating obtain the work
The current location of industry robot 1；
The unmanned plane 2 flying distance after the mounting platform of unmanned plane 2 is departed from is more than pre-set flight threshold value, and detection
To GPS signal strength still less than default lowest threshold when, the unmanned plane 2 passes through the default detection of the 3rd camera 22 detection
Landmark in region, and the current position of the unmanned plane 2 is obtained by gathering the image of landmark, so
The industrial robot 1 is shot by the 3rd camera 22 afterwards, judged according to the shooting image of the 3rd camera 22
The relative position of the unmanned plane 2 and the industrial robot 1, and calculate the current location for obtaining the industrial robot 1.
Although the positioning method using landmark 4 is very convenient, and is taken the photograph by the first camera 12 and second
As first 13 binocular detection can further improve the precision of positioning, however, in actual applications, landmark 4 is being deposited
The position stored up in map is not necessarily accurate, it is possible that the situation that error logging or landmark 4 are shifted, so,
Position correction can be realized by the GPS location of unmanned plane 2, host computer 3 can update map, it is ensured that the accuracy of map and
Correct guided bone.Map rejuvenation for a period of time after, GPS location data can be obtained again without unmanned plane 2, built by significant
Preferable location data can be obtained by building thing.
Landmark can be market building, office building, monument for having stored in the map of host computer 3 etc.
Deng.
Unmanned plane 2, can be by obtaining the image of surrounding environment when that can not obtain gps data, and host computer 3 passes through
Environment figure estimates the position of unmanned plane 2, i.e. in a preferred embodiment, the unmanned plane 2 is taken the photograph by the described 3rd
When can not detect the landmark in predetermined detection area as first 22, rotate in place 360 ° and continue to shoot, will shoot
To video or panoramic picture send the video that is shot to the host computer 3, the host computer 3 according to the unmanned plane 2 or complete
Scape image is compared with a variety of environmental datas stored, the position of the unmanned plane 2 is estimated, according to estimating for the unmanned plane 2
Location lookup guidance information is calculated, and will estimate that obtained position data and the guidance information of lookup are sent to the unmanned plane together
2.For example, in actual applications, unmanned plane 2 is located at a spacious place, and surrounding is farmland entirely, then host computer 3 can basis
Around farmland image obtain the position data that its is general.Guidance information can be landmark building closest around
Thing, the position of industrial robot 1 of surrounding, the charging station location and route planning information of surrounding etc., can be industrial machine
People 1 provides correct guiding.
In a preferred embodiment, it is described when the internal storage memory capacity of the industrial robot 1 expires
Unmanned plane 2 is communicated with other industrial robots 1 nearest apart from the industrial robot 1, obtains other industrial robots 1
Storage capacity information, when other free memories of industrial robot 1 be more than data storage size to be transferred when, it is described nobody
Machine 2 obtains data storage to be transferred from the full industrial robot 1 of memory capacity, and the data storage to be transferred is passed through into it
The unmanned plane 2 of his industrial robot 1 is transferred to corresponding industrial robot 1；
Success access information is passed through correspondence by other industrial robots 1 after the data storage to be transferred is successfully accessed
Industrial robot 1 send to the unmanned plane 2 of the full industrial robot 1 of memory capacity, memory capacity is notified by the unmanned plane 2
Full industrial robot 1 deletes data storage to be transferred；
The available storage of other industrial robots 1 nearest apart from the industrial robot 1 is less than storage to be transferred
During data, the unmanned plane 2 of the full industrial robot 1 of memory capacity continues to search for next closest industrial robot 1,
And be in communication with；
The unmanned plane 2 of the full industrial robot 1 of memory capacity is in default other industrial machines that can be in favored area of traversal
People 1, it is impossible to which when finding free memory and being more than the industrial robot 1 of data storage size to be transferred, the unmanned plane 2 is to institute
State host computer 3 and send return request, the host computer 3 sends route planning data, the industrial robot to the unmanned plane 2
1 is back to base station according to the route planning data.Base station can be charging station set in advance, depot etc..
Mutually passed, can be avoided apart from charging station too remote industrial robot 1 by the electricity between each industrial robot 1
Not enough power supply can obtain other industrial machines around in real time to rush to the situation of charging station, and when being walked to charging station
The charge condition of people 1, once help of charging can be provided by finding, you can to stop, supply electricity is obtained by unmanned plane 2
Amount.Because the industrial robot 1 nearer apart from base station is probably just to have charged electricity, therefore, for the robot of not enough power supply
For, during being walked to base station, the possibility for searching out other robots that can provide help is also bigger.
In this way, the multiple robots with many industrial robots 1, multiple industrial machines are particularly suitable for use in
Can be worked in coordination between device people 1, for provide each other between help, and industrial robot 1 by unmanned plane 2 carry out communication and
Data transfer, can be not necessarily limited to the current position of industrial robot 1, and the characteristic that unmanned plane 2 is arbitrarily moved is also very convenient.
In a preferred embodiment, the unmanned plane erecting bed 11 is using the structure of rotary type above, institute
The default collection period of the setting of host computer 3 is stated, each described industrial robot 1 includes timing module, and the timing module is to row
Walking the time is added up, when walking between reach after default collection period, the industrial robot 1 stops walking, it is described nobody
Machine 2 is rotated by 360 ° by the rotating mechanism, and continues shooting image or video, and by shooting image or video or the GPS
The position data that locating module is obtained is sent to the host computer 3 together；The host computer 3 can be according to the unmanned plane 2
GPS location data update and increased the various environmental datas stored in host computer 3 with the surrounding environment video or image that shoot.
After the shooting of unmanned plane 2 is finished, the timing module of the industrial robot 1 will be reset the time, the industrial machine
Device people 1 restarts walking, and the timing module restarts timing of walking.
In a preferred embodiment, the first accumulator electric-quantity of the industrial robot 1 is less than default electricity threshold
During value, the unmanned plane 2 is communicated with other industrial robots 1 nearest apart from the industrial robot 1, obtains other works
The electricity of first battery of industry robot 1, when other accumulator electric-quantities of industrial robot 1 first are more than electricity size to be transferred
When, the unmanned plane 2 obtains electricity to be transferred from other industrial robots 1, and the electricity to be transferred is transferred into first
Accumulator electric-quantity is less than the industrial robot 1 of default power threshold；
First accumulator electric-quantity of other industrial robots 1 nearest apart from the industrial robot 1 is less than electricity to be transferred
When measuring size, the first accumulator electric-quantity be less than the industrial robot 1 of default power threshold unmanned plane 2 continue to search for it is next away from
From nearest industrial robot 1, and it is in communication with.
In a preferred embodiment, the first accumulator electric-quantity is less than the industrial robot 1 of default power threshold
Unmanned plane 2 is in default other industrial robots 1 that can be in favored area of traversal, it is impossible to find the first accumulator electric-quantity be more than it is to be transferred
During the industrial robot 1 of electricity size, the unmanned plane 2 sends to the host computer 3 and returns to request, and the host computer 3 is to institute
State unmanned plane 2 and send route planning data, the industrial robot 1 is back to base station according to the route planning data.
The vision positioning system and method for a kind of industrial robot in the invention are employed, industrial machine crowd is realized
In multiple industrial robots Automated condtrol and be accurately positioned respectively, position can be obtained by the binocular identification of industrial robot
Information, and position data, the map stored to landmark in host computer are obtained by GPS location by unmanned plane
Middle position is corrected and data transfer, and multiple industrial robots can work in coordination, and is particularly suitable for use in extensive group robot
Unified management, host computer can realize map rejuvenation and path planning, simple in construction, using convenient, it is adaptable to push away on a large scale
Wide application.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the present invention.Therefore, specification and drawings are considered as illustrative
And it is nonrestrictive.
Claims (10)
1. a kind of vision positioning system of industrial robot, it is characterised in that the system includes：
Unmanned plane erecting bed is installed at the top of multiple industrial robots, each described industrial robot, each described industrial machine
The side of device people is provided with the first camera and second camera, and the first channel radio is additionally provided with each described industrial robot
Believe module, the first power management module and the first battery, the upper surface of the unmanned plane erecting bed is provided with charging inlet, institute
Charging inlet is stated with the first battery of the industrial robot to be connected；
The multiple and one-to-one unmanned plane of the industrial robot, each described unmanned plane is removably installed in corresponding
In unmanned plane erecting bed, second source management module and the second battery are additionally provided with the unmanned plane, the unmanned plane
Side is provided with the 3rd camera, and the lower surface of the unmanned plane is provided with charging plug, the charging plug and described second
Battery is connected, and the charging plug is corresponding with the charging inlet of corresponding industrial robot, each it is described nobody
D GPS locating module, GPS signal strength detection module, wireless signal strength detection module, photographing module and second are provided with machine
Wireless communication module, second wireless communication module is communicated with first wireless communication module and host computer respectively；
Host computer, the host computer includes the 3rd wireless communication module, map rejuvenation module and path planning module, the described 3rd
Wireless communication module is communicated with second wireless communication module, and the map rejuvenation module is sent according to the unmanned plane
Position data update the map of storage, the path planning module is each described industrial robot path planning, and by road
Footpath layout data is sent to the unmanned plane.
2. a kind of vision positioning system of industrial robot according to claim 1, it is characterised in that each described industry
The side of robot is additionally provided with laser positioning module and infrared human body induction module, and the laser positioning module is sent out including laser
Raw device, laser pickoff and distance analysis unit, the infrared human body induction module include infrared collection device and infrared induction
Analytic unit, the inside of the industrial robot is additionally provided with control module, and the control module is imaged with described first respectively
Head, second camera, the first wireless communication module, the first power management module, the first battery, distance analysis unit and infrared
Sensing analytic unit is connected.
3. a kind of vision positioning system of industrial robot according to claim 1, it is characterised in that the unmanned plane peace
Filling platform includes support bar, multi-directional ball and support platform, and one end of the support bar is arranged on the top of the industrial robot, institute
The other end that multi-directional ball is arranged on the support bar is stated, the support platform is installed in the multi-directional ball, the support platform
On be provided with a rotating mechanism, the rotating mechanism is rotated in the horizontal plane, and the unmanned plane is installed on the rotating mechanism；
The rotating mechanism includes rotary drive motor, driving motor output shaft, lower disc and upper disk, the lower disc and institute
State multi-directional ball to be in contact, the driving motor output shaft, and the motor are equipped between the lower disc and upper disk
Output shaft is rotatably connected with the lower disc, and the driving motor output shaft is fixedly connected with the upper disk.
4. a kind of vision positioning method of industrial robot, it is characterised in that using any one of claims 1 to 3
Vision positioning system, comprises the following steps：
Each described industrial robot obtains shooting image by first camera and second camera, and selects shooting figure
Landmark as in, by principle of triangulation calculate industrial robot in itself to the landmark away from
From；
The unmanned plane obtains the industrial robot in itself to the distance of the landmark, and fixed by the GPS
Position module obtains current location data, and range data and position data are sent to the host computer；
The host computer judges the industrial machine according to the position and the range data of landmark in the map of storage
The position of device people, and will determine that the position that the position of obtained industrial robot is obtained with d GPS locating module is compared, when going out
When being now more than the deviation of predetermined threshold value, the map of storage is updated；
The host computer calculates the industrial robot programme path according to the position of the industrial robot, and by route planning
Data are sent to the industrial robot by the unmanned plane.
5. a kind of vision positioning method of industrial robot according to claim 4, it is characterised in that the industrial machine
When the GPS signal strength detection module of people detects GPS signal strength less than preset strength lowest threshold, the unmanned plane is automatic
Fly up the disengaging unmanned plane mounting platform, and continues to detect GPS signal strength, when detect GPS signal strength be more than it is default
During lowest threshold, current location data is obtained again through the d GPS locating module, and institute is shot by the 3rd camera
Industrial robot is stated, judges that the unmanned plane is relative with the industrial robot according to the shooting image of the 3rd camera
Position, and calculate the current location for obtaining the industrial robot；
Unmanned plane flying distance after the unmanned plane mounting platform is departed from is more than pre-set flight threshold value, and detects GPS
When signal intensity is still less than default lowest threshold, the unmanned plane is detected in predetermined detection area by the 3rd camera
Landmark, and the current position of the unmanned plane is obtained by gathering the image of landmark, then pass through institute
State the 3rd camera and shoot the industrial robot, the unmanned plane and institute are judged according to the shooting image of the 3rd camera
The relative position of industrial robot is stated, and calculates the current location for obtaining the industrial robot.
6. the vision positioning method of industrial robot according to claim 5, it is characterised in that the unmanned plane passes through institute
When stating the 3rd camera and can not detect the landmark in predetermined detection area, rotate in place 360 ° and continue to shoot, will
Shoot obtained video or panoramic picture send the video that is shot to the host computer, the host computer according to the unmanned plane or
Panoramic picture is compared with a variety of environmental datas stored, the position of the unmanned plane is estimated, according to estimating for the unmanned plane
Calculate location lookup guidance information, and will estimate obtained position data and the guidance information searched send together to it is described nobody
Machine.
7. the vision positioning method of industrial robot according to claim 4, it is characterised in that the industrial robot
When internal storage memory capacity expires, the unmanned plane enters with other industrial robots nearest apart from the industrial robot
Row communication, obtains the storage capacity information of other industrial robots, waits to turn when other industrial robot free memories are more than
When moving data storage size, the unmanned plane obtains data storage to be transferred from the full industrial robot of memory capacity, and will
The data storage to be transferred is transferred to corresponding industrial robot by the unmanned plane of other industrial robots；
Success access information is passed through corresponding industry by other industrial robots after the data storage to be transferred is successfully accessed
Robot is sent to the unmanned plane of the full industrial robot of memory capacity, and the full industry of memory capacity is notified by the unmanned plane
Data storage to be transferred is deleted by robot；
When the available storage of other industrial robots nearest apart from the industrial robot is less than data storage to be transferred,
The unmanned plane of the full industrial robot of memory capacity continues to search for next closest industrial robot, and is carried out with it
Communication；
The unmanned plane of the full industrial robot of memory capacity is in default other industrial robots that can be in favored area of traversal, it is impossible to
Find free memory be more than data storage size to be transferred industrial robot when, the unmanned plane is sent out to the host computer
Return is sent to ask, the host computer sends route planning data to the unmanned plane, and the industrial robot is according to the route
Layout data is back to base station.
8. the vision positioning method of industrial robot according to claim 4, it is characterised in that the unmanned plane erecting bed
Including support bar, multi-directional ball and support platform, one end of the support bar is arranged on the top of the industrial robot, described ten thousand
The other end of the support bar is arranged on to ball, the support platform is installed in the multi-directional ball, set in the support platform
A rotating mechanism is equipped with, the rotating mechanism is rotated in the horizontal plane, and the unmanned plane is installed on the rotating mechanism；
The rotating mechanism includes rotary drive motor, driving motor output shaft, lower disc and upper disk, the lower disc and institute
State multi-directional ball to be in contact, the driving motor output shaft, and the motor are equipped between the lower disc and upper disk
Output shaft is rotatably connected with the lower disc, and the driving motor output shaft is fixedly connected with the upper disk；
The default collection period of host computer setting, each described industrial robot includes timing module, the timing module
Travel time is added up, when walking between reach after default collection period, the industrial robot stops walking, the nothing
It is man-machine to be rotated by 360 ° by the rotating mechanism, and continue shooting image or video, and by shooting image or video or the GPS
The position data that locating module is obtained is sent to the host computer together；
After the unmanned plane shooting is finished, the timing module of the industrial robot will be reset the time, the industrial robot weight
New to start walking, the timing module restarts timing of walking.
9. the vision positioning method of industrial robot according to claim 4, it is characterised in that the industrial robot
When first accumulator electric-quantity is less than default power threshold, the unmanned plane and other industry nearest apart from the industrial robot
Robot is communicated, and obtains the electricity of the first battery of other industrial robots, when other electric power storages of industrial robot first
When pond electricity is more than electricity size to be transferred, the unmanned plane obtains electricity to be transferred from other industrial robots, and by institute
State electricity to be transferred and be transferred to the industrial robot that the first accumulator electric-quantity is less than default power threshold；
First accumulator electric-quantity of other industrial robots nearest apart from the industrial robot is less than electricity size to be transferred
When, the first accumulator electric-quantity continues to search for next closest less than the unmanned plane of the industrial robot of default power threshold
Industrial robot, and be in communication with.
10. the vision positioning method of industrial robot according to claim 4, it is characterised in that the first accumulator electric-quantity
Less than default power threshold industrial robot unmanned plane in default other industrial robots that can be in favored area of traversal, it is impossible to
Find the first accumulator electric-quantity be more than electricity size to be transferred industrial robot when, the unmanned plane is sent to the host computer
Request is returned to, the host computer sends route planning data to the unmanned plane, and the industrial robot is advised according to the route
Draw data and be back to base station.
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