CN117742338A - Curtain wall repair robot scheduling system based on images - Google Patents
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Abstract
The invention relates to the technical field of curtain wall robot control, in particular to an image-based curtain wall repair robot scheduling system, which comprises: repairing the robot; the monitoring module is used for collecting image information of the curtain wall; a determination module for determining a target point; the computing module is used for computing the motion path and the motion duration from the repairing robot to the target point and generating an optimal path; the obstacle detection module is used for judging the type of the motion path; the scheduling module is used for scheduling the corresponding repair robot to move according to the optimal path; the driving module is used for providing power for the repairing robot; the device realizes accurate positioning of the damaged part of the curtain wall, realizes accurate planning of the motion path, and ensures that the repairing robot reaches the damaged part of the curtain wall by using the optimal path; the optimal path is adopted, so that energy sources are saved, and the energy consumption of the robot is reduced, and the practicability and the energy utilization rate of the curtain wall robot are effectively improved.
Description
Technical Field
The invention relates to the technical field of curtain wall robot control, in particular to an image-based curtain wall repair robot scheduling system.
Background
Along with the continuous promotion of the urban process in China, high-rise buildings are increased, and huge potential hazards exist in the prior art of repairing the high-rise buildings by adopting a manual operation mode, so that the curtain wall repairing robot scheduling system based on the images is required to be invented.
The curtain wall robot commonly used at present is disclosed in China patent application publication No.: CN111700550B discloses a curtain wall cleaning robot, including first cleaning mechanism, second cleaning mechanism and obstacle crossing driving assembly, obstacle crossing driving assembly includes first connecting rod, second connecting rod and power device, one end of first connecting rod and one end of second connecting rod all articulate with power device and swing through power device, the other end of first connecting rod articulates with first cleaning mechanism, the other end of second connecting rod articulates with second cleaning mechanism, first cleaning mechanism and second cleaning mechanism all include the organism, the delivery pipe, ultrasonic atomizer, actuating mechanism, vacuum adsorption subassembly and wiping subassembly, vacuum adsorption subassembly is used for adsorbing the robot on the curtain wall, wiping subassembly installs in the middle part of organism bottom and is used for cleaning the curtain; the device not only realizes crossing the obstacle through crossing the obstacle drive assembly, but also realizes the cleaning operation of the outer wall of the large-area building and the glass curtain wall surface.
However, the above method has the following problems: curtain wall robot is applied to the curtain wall cleaning operation of high-rise building, can't be applied to the curtain wall repair operation of high-rise building to lead to:
(1) The single use leads to the reduced practicality of the curtain wall robot;
(2) The route planning and the action mode are single, and the energy utilization efficiency is low when the system is put into use.
Disclosure of Invention
Therefore, the invention provides a bolt screwing robot for automobile seat production, which is used for solving the problems that in the prior art, the curtain wall robot is applied to curtain wall cleaning operation of a high-rise building, cannot be applied to repair operation of a curtain wall of the high-rise building, the curtain wall robot has single use, the practicability of the curtain wall robot is reduced, the path planning and the action mode are single, and the energy utilization efficiency is low when the curtain wall robot is put into use.
In order to achieve the above object, the present invention provides an image-based curtain wall repair robot scheduling system, comprising:
repairing the robot;
the monitoring module is used for collecting image information of the curtain wall;
the judging module is connected with the monitoring module and used for determining the repair position of the curtain wall according to the image information and marking the repair position as a target point;
the calculation module is connected with the judging module and used for calculating the motion path and the motion duration from the repair robot to the target point and generating an optimal path;
the obstacle detection module is connected with the calculation module and used for detecting the height difference of the obstacle in the movement path and comparing the height difference with the climbing height of the repairing robot to judge the type of the movement path;
the scheduling module is connected with the calculating module and used for scheduling the corresponding repairing robot to move according to the optimal path;
the driving module is connected with the scheduling module and used for providing moving power and repairing power for the repairing robot;
wherein the height difference is a vertical height of the obstacle;
the climbing height is the maximum height of the repair robot in vertical climbing.
Further, the calculation module calculates a motion path according to the current position of each repair robot and the target point;
wherein the motion path comprises a linear path and a broken line type path;
the linear path is formed by connecting the repairing robot with the target point; the zigzag path is composed of a horizontal path and a vertical path.
Further, the calculation module selects the path according to the type of the motion path;
when the computing module excludes the difficult paths, the optimal paths are sequentially ordered from less to more according to the corrected movement duration, and the movement path with the least movement duration is selected as the optimal path.
Further, the monitoring module divides the curtain wall into image areas with preset areas, and acquires corresponding image information from the image areas in a preset period;
wherein the predetermined area is related to the curtain wall area.
Further, the judging module determines whether the curtain wall repairs the curtain wall according to the image information;
if the chromaticity of the image information is larger than the preset chromaticity, the judging module judges that the image area corresponding to the image information is a repair curtain wall;
if the chromaticity of the image information is not more than the preset chromaticity, the judging module judges that the image area corresponding to the image information is a complete curtain wall;
wherein the chromaticity E is determined by formula (1);
E＝α 2 +β 2 +L 2 (1)
wherein alpha is the color value of the image information on the red-green axis, beta is the color value of the image information on the yellow-blue axis, and L is the color brightness of the image information;
wherein the preset chromaticity is related to the color and the color brightness of the curtain wall.
Further, the calculation module calculates the movement duration according to the movement path;
the movement duration comprises obstacle crossing time, buffering time and walking time;
the buffer time is the time required to wait for the moving state of the repair robot to change from the walking state to the obstacle crossing state.
Further, the calculation module corrects the movement duration according to the load and wind power of the repair robot;
wherein T is the movement time before correction, T 'is the movement time after correction, lambda is wind power, M' is the total mass of the repairing robot and the load, and M is the mass of the repairing robot;
the load is the material required by the repair robot to repair the curtain wall.
Further, the obstacle detection module detects the height difference delta H of the obstacle in the linear path, and judges the type of the linear path according to the comparison between the height difference delta H and the climbing height H;
if the height difference delta H is not larger than the climbing height H, the obstacle detection module judges that the linear type is a feasible path;
if the height difference delta H is larger than the climbing height H, the obstacle detection module judges that the straight line type is an intractable path.
Further, the scheduling module schedules the repair robot corresponding to the optimal path to move from the current position to the target point.
Further, the monitoring module performs secondary image acquisition on the target point after repair is completed, and secondary image information is generated;
the judging module compares the chromaticity of the secondary image information with a preset chromaticity to secondarily judge the curtain wall repairing condition;
if the chromaticity of the secondary image information is not more than the preset chromaticity, the judging module judges that the corresponding curtain wall is a complete curtain wall;
and if the chromaticity of the secondary image information is larger than the preset chromaticity, the judging module judges that the corresponding curtain wall is a secondary repair type curtain wall.
Compared with the prior art, the device has the beneficial effects that the accurate positioning of the damaged part of the curtain wall is realized through the device, the accurate planning of the movement path is realized through the cooperative operation of the calculation module and the obstacle detection module, the repairing robot is ensured to reach the damaged part of the curtain wall by using the optimal path, and the repairing period is shortened; and the optimal path is adopted, so that energy sources are saved, and the energy consumption of the robot is reduced, and the practicability and the energy utilization rate of the curtain wall robot are effectively improved.
Furthermore, the curtain wall is divided into a certain image area by the monitoring module, and the image information of the curtain wall is periodically collected, so that the accurate positioning of the broken part of the curtain wall is realized, the false alarm rate is reduced, and the practicability of the curtain wall robot is further improved.
Further, the obstacle detection module is used for detecting the obstacle type in the movement path, judging the feasibility of the movement path, and the calculation module is used for calculating the movement path and the movement time length of the curtain wall repairing robot reaching the damaged position of the curtain wall by combining the total mass of the repairing robot and the repairing material and the calculation of the wind power correction movement time length, so that the calculation of the movement path and the movement time length of the curtain wall repairing robot reaching the damaged position of the curtain wall is realized, the calculation deviation of the movement path and the movement time length caused by external environment factors is reduced, the curtain wall repairing robot is ensured to reach the damaged position in the shortest path, the energy consumption of the repairing robot is reduced, and the energy utilization rate of the curtain wall robot is further improved.
Further, the method acquires secondary image information of the repaired curtain wall area through the monitoring module, verifies whether the repairing measure taken by the repairing robot on the curtain wall is effective, ensures the quality of the curtain wall and the reliability of a dispatching system, and further improves the practicability of the curtain wall robot.
Drawings
FIG. 1 is a schematic diagram of a curtain wall repair robot scheduling system based on images of the present invention;
FIG. 2 is a schematic illustration of the path of motion of the present invention;
FIG. 3 is a schematic representation of a disorder of the present invention;
FIG. 4 is a schematic diagram illustrating the operation of the barrier module of the present invention;
wherein, the linear type route 1, the zigzag type route 2, the repairing robot 3, the target point 4 and the obstacle 5.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, which is a schematic structural diagram of an image-based curtain wall repair robot scheduling system according to the present invention, the image-based curtain wall repair robot scheduling system includes:
repairing the robot;
the monitoring module is used for collecting image information of the curtain wall;
the judging module is connected with the monitoring module and used for determining the repair position of the curtain wall according to the image information and marking the repair position as a target point;
the computing module is connected with the judging module and used for computing the motion path and the motion duration from the repairing robot to the target point and generating an optimal path;
the obstacle detection module is connected with the calculation module and used for detecting the height difference of the obstacle in the movement path and comparing the height difference with the climbing height of the repairing robot to judge the type of the movement path;
the scheduling module is connected with the calculating module and used for scheduling the corresponding repairing robot to move according to the optimal path;
the driving module is connected with the scheduling module and used for providing moving power and repairing power for the repairing robot;
wherein the height difference is the vertical height of the obstacle;
the climbing height is the maximum height of the vertical climbing of the repairing robot.
It can be understood that, those skilled in the art can easily understand that under the condition that the electric quantity exhaustion period of the repairing robot is unchanged, shortening the time for the repairing robot to reach the target point is beneficial to prolonging the effective working time of the repairing robot and improving the energy utilization rate.
According to the device, the accurate positioning of the damaged part of the curtain wall is realized, the accurate planning of the motion path is realized through the cooperative operation of the calculation module and the obstacle detection module, the repair robot is ensured to reach the damaged part of the curtain wall by using the optimal path, and the repair period is shortened; and the optimal path is adopted, so that energy sources are saved, and the energy consumption of the robot is reduced, and the practicability and the energy utilization rate of the curtain wall robot are effectively improved.
Fig. 2 is a schematic diagram of a motion path according to the present invention, and a calculation module calculates the motion path according to the current position and the target point of each repair robot;
the motion path comprises a linear path and a broken line type path;
the linear path is formed by connecting the repairing robot with the target point;
the zigzag path is composed of a horizontal path and a vertical path.
In practice, a straight path is required to cross an obstacle; the polyline-type path need not span an obstacle.
In an implementation, the horizontal path is a path along which the repair robot moves in a horizontal direction, and the vertical path is a path along which the repair robot moves in a direction perpendicular to the horizontal direction.
Specifically, the calculation module selects a path according to the type of the motion path;
the optimal path is selected in such a way that after the calculation module excludes the difficult paths, the motion paths with the least motion duration are selected as the optimal paths according to the sequential sorting from less motion duration to more motion duration after correction.
Please refer to table 1, which is a table for selecting the optimal path according to an embodiment of the present invention;
table 1 selection of optimal paths against table
| Motion path | Duration of exercise/min | Motion path | Duration of exercise/min | |
| Repair robot No. 1 | Folded line type path | 5 | Feasible path | 4 |
| Repair robot No. 2 | Folded line type path | 8 | Difficult path | / |
| Repair robot No. 3 | Folded line type path | 15 | Feasible path | 8 |
It can be understood that 5min is required for the repair robot No. 1 to reach the target point by adopting the broken line type path, 4min is required for the repair robot No. 2 to reach the target point by adopting the feasible path, 8min is required for the repair robot No. 2 to reach the target point by adopting the broken line type path, 15min is required for the repair robot No. 3 to reach the target point by adopting the broken line type path, and 8min is required for the repair robot No. 3 to reach the target point by adopting the feasible path, so that the feasible path of the repair robot No. 1 is selected as the optimal path.
Specifically, the monitoring module divides the curtain wall into image areas with preset areas, and acquires corresponding image information from the image areas in a preset period;
wherein the predetermined area is related to the curtain wall area.
Typically, the curtain wall area is 1000m 2 The preset area is 200m 2 Curtain wall area is 2000m 2 Preset area500m of 2 。
The curtain wall is divided into a certain image area through the monitoring module, and the curtain wall image information is periodically collected, so that the accurate positioning of the broken part of the curtain wall is realized, the false alarm rate is reduced, and the practicability of the curtain wall robot is further improved.
Preferably, the acquisition period of the monitoring module is set to be 5-10 min.
It can be appreciated that any implementation manner of the foregoing monitoring module in the prior art can be used, and will not be described herein.
Specifically, the judging module determines whether the curtain wall repairs the curtain wall according to the image information;
if the chromaticity of the image information is larger than the preset chromaticity, the judging module judges that the image area corresponding to the image information is a repair curtain wall;
if the chromaticity of the image information is not more than the preset chromaticity, the judging module judges that the image area corresponding to the image information is a complete curtain wall;
wherein the chromaticity E is determined by formula (1);
E＝α 2 +β 2 +L 2 (1)
wherein alpha is the color value of the image information on the red-green axis, beta is the color value of the image information on the yellow-blue axis, and L is the color brightness of the image information;
wherein the preset chromaticity is related to the color and the color brightness of the curtain wall.
Please refer to table 2, which is a table for comparing the relationship between preset chromaticity and curtain wall color and brightness,
table 2 preset a table of the relationship between chromaticity and curtain wall color and color brightness,
it will be appreciated that no repair is required for the complete curtain wall described above.
Specifically, the calculation module calculates the movement duration according to the movement path;
the movement duration comprises obstacle crossing time, buffering time and walking time;
the buffer time is the time needed to wait for the moving state of the repairing robot to change from the walking state to the obstacle crossing state.
It can be understood that the walking state is a moving state of the repairing robot on the flat curtain wall, and the walking time is a moving time of the repairing robot in the walking state.
In general, the buffer time is set to 30s to 45s.
Specifically, the calculation module corrects the movement duration according to the load and wind power of the repair robot;
wherein T is the movement time before correction, T 'is the movement time after correction, lambda is wind power, M' is the total mass of the repairing robot and the load, and M is the mass of the repairing robot;
the load is the material required by the repair robot to repair the curtain wall.
In the implementation, the movement time before correction is 5min, the wind power is 0 level, the mass of the repairing robot is 10kg, the total mass of the repairing robot and the load is 15kg, and the movement time after correction is 7.5min;
the movement time before correction is 5min, the wind power is 1 level, the mass of the repairing robot is 10kg, the total mass of the repairing robot and the load is 15kg, and the movement time after correction is 15min;
referring to fig. 3 and 4, fig. 3 is a schematic diagram of an obstacle according to the present invention, fig. 4 is a working schematic diagram of an obstacle detection module according to the present invention, the obstacle detection module detects a height difference δh of the obstacle in a linear path, and determines a type of the linear path according to the height difference δh and a climbing height H;
if the height difference delta H is not larger than the climbing height H, the obstacle detection module judges that the straight line type is a feasible path;
if the height difference delta H is larger than the climbing height H, the obstacle detection module judges that the straight line type is an intractable path.
It will be appreciated that the climbing height is dependent on the type of repair robot; the climbing height of the cloud wall curtain wall robot is 50cm, and the climbing height of the Plecolot curtain wall robot is 20cm.
According to the invention, the obstacle type in the motion path is detected by the obstacle detection module, the feasibility of the motion path is judged, and the calculation module is combined with the total mass of the repair robot and the repair material and the calculation of the wind power correction motion time length, so that the motion path and the motion time length of the curtain wall repair robot reaching the damaged position of the curtain wall are calculated, the calculation deviation of the motion path and the motion time length caused by external environment factors is reduced, and the curtain wall repair robot is ensured to reach the damaged position in the shortest time, thereby further improving the practicability of the curtain wall robot.
Specifically, the calculation module selects a path according to the type of the motion path;
the optimal path is selected in such a way that after the calculation module excludes the difficult paths, the motion paths with the least motion duration are selected as the optimal paths according to the sequential sorting from less motion duration to more motion duration after correction.
Specifically, the scheduling module schedules the repair robot corresponding to the optimal path to move from the current position to the target point.
Specifically, the monitoring module performs secondary image acquisition on the target point after repair is completed, and secondary image information is generated;
the judging module compares the chromaticity of the secondary image information with a preset chromaticity to secondarily judge the curtain wall repairing condition;
if the chromaticity of the secondary image information is not more than the preset chromaticity, the judging module secondarily judges that the corresponding curtain wall is an integral curtain wall;
if the chromaticity of the secondary image information is larger than the preset chromaticity, the judging module secondarily judges that the corresponding curtain wall is a secondary repair type curtain wall.
It can be understood that the finished curtain wall does not need to be repaired, and the scheduling system of the invention repeats the technical scheme for scheduling the curtain wall repairing robot to carry out secondary repairing treatment for the secondary repairing curtain wall.
In implementation, the preset chromaticity of the yellow curtain wall is 5200-5500, the chromaticity of the secondary image is 5290, the chromaticity of the secondary image is smaller than the maximum value 5500 of the preset chromaticity, the judging module judges that the repaired yellow curtain wall is an integral curtain wall, and if the chromaticity of the secondary image is smaller than the minimum value 5200 of the preset chromaticity, the judging module judges that the repaired yellow curtain wall is a secondary repair type curtain wall and needs to be repaired secondarily.
The invention collects secondary image information for the repaired curtain wall area through the monitoring module, verifies whether the repairing measure taken by the repairing robot on the curtain wall is effective, ensures the quality of the curtain wall and the reliability of a dispatching system, and further improves the practicability of the curtain wall robot.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Curtain repair robot dispatch system based on image, its characterized in that includes:
repairing the robot;
the monitoring module is used for collecting image information of the curtain wall;
the judging module is connected with the monitoring module and used for determining the repair position of the curtain wall according to the image information and marking the repair position as a target point;
the calculation module is connected with the judging module and used for calculating the motion path and the motion duration from the repair robot to the target point and generating an optimal path;
the obstacle detection module is connected with the calculation module and used for detecting the height difference of the obstacle in the movement path and comparing the height difference with the climbing height of the repairing robot to judge the type of the movement path;
the scheduling module is connected with the calculating module and used for scheduling the corresponding repairing robot to move according to the optimal path;
the driving module is connected with the scheduling module and used for providing moving power and repairing power for the repairing robot;
wherein the height difference is a vertical height of the obstacle;
the climbing height is the maximum height that the repairing robot can vertically climb.
2. The image-based curtain wall repair robot scheduling system of claim 1, wherein the calculation module calculates a motion path from a current position of each repair robot and the target point;
wherein the motion path comprises a linear path and a broken line type path;
the linear path is formed by connecting the repairing robot with the target point; the zigzag path is composed of a horizontal path and a vertical path.
3. The image based curtain wall repair robot scheduling system of claim 2, wherein the computing module selects the path based on a type of the motion path;
when the computing module excludes the difficult paths, the optimal paths are sequentially ordered from less to more according to the corrected movement duration, and the movement path with the least movement duration is selected as the optimal path.
4. The image-based curtain wall repair robot scheduling system according to claim 3, wherein the monitoring module divides the curtain wall into image areas with preset areas, and acquires corresponding image information from the image areas in a preset period;
wherein the predetermined area is related to the curtain wall area.
5. The image-based curtain wall repair robot scheduling system of claim 4, wherein the determination module determines whether a curtain wall repairs the curtain wall according to the image information;
if the chromaticity of the image information is larger than the preset chromaticity, the judging module judges that the image area corresponding to the image information is a repair curtain wall;
if the chromaticity of the image information is not more than the preset chromaticity, the judging module judges that the image area corresponding to the image information is a complete curtain wall;
wherein the chromaticity E is determined by formula (1);
E＝α 2 +β 2 +L 2 (1)
wherein alpha is the color value of the image information on the red-green axis, beta is the color value of the image information on the yellow-blue axis, and L is the color brightness of the image information;
wherein the preset chromaticity is related to the color and the color brightness of the curtain wall.
6. The image based curtain wall repair robot scheduling system of claim 5, wherein the calculation module calculates the movement duration from the movement path;
the movement duration comprises obstacle crossing time, buffering time and walking time;
the buffer time is the time required to wait for the moving state of the repair robot to change from the walking state to the obstacle crossing state.
7. The image-based curtain wall repair robot scheduling system of claim 6, wherein the calculation module corrects the movement duration based on the load of the repair robot and wind power;
wherein T is the movement time before correction, T 'is the movement time after correction, lambda is wind power, M' is the total mass of the repairing robot and the load, and M is the mass of the repairing robot;
the load is the material required by the repair robot to repair the curtain wall.
8. The image-based curtain wall repair robot scheduling system of claim 7, wherein the obstacle detection module detects a height difference δh of an obstacle in the linear path and determines a type of the linear path according to the height difference δh compared with the climbing height H;
if the height difference delta H is not larger than the climbing height H, the obstacle detection module judges that the linear type is a feasible path;
if the height difference delta H is larger than the climbing height H, the obstacle detection module judges that the straight line type is an intractable path.
9. The image based curtain wall repair robot scheduling system of claim 8, wherein the scheduling module schedules the repair robot corresponding to the optimal path to move from a current location to the target point.
10. The image-based curtain wall repair robot scheduling system according to claim 9, wherein the monitoring module performs secondary image acquisition on the target point after repair is completed to generate secondary image information; the judging module compares the chromaticity of the secondary image information with a preset chromaticity to secondarily judge the curtain wall repairing condition;
if the chromaticity of the secondary image information is not more than the preset chromaticity, the judging module judges that the corresponding curtain wall is a complete curtain wall;
and if the chromaticity of the secondary image information is larger than the preset chromaticity, the judging module judges that the corresponding curtain wall is a secondary repair type curtain wall.
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| US20180114452A1 (en) * | 2016-10-20 | 2018-04-26 | Thales | Method and system for determining a minimum-thrust synchronous descent and rejoining profile for an aircraft |
| DE102021107495A1 (en) * | 2020-04-03 | 2021-10-07 | Fanuc Corporation | CREATING AN INITIAL REFERENCE TO OPTIMIZE THE MOVEMENT PLANNING OF ROBOTS |
| WO2022255989A1 (en) * | 2021-06-01 | 2022-12-08 | Nokia Technologies Oy | Waypoint reduction for path planning of multiple autonomous robots |
| CN114355953A (en) * | 2022-03-18 | 2022-04-15 | 深圳市朗宇芯科技有限公司 | High-precision control method and system of multi-axis servo system based on machine vision |
| CN114995414A (en) * | 2022-05-30 | 2022-09-02 | 南方科技大学 | Wall surface quality detection robot and method, electronic device and storage medium |
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