CN211466458U - Mobile industrial measuring robot based on SLAM technology - Google Patents
Mobile industrial measuring robot based on SLAM technology Download PDFInfo
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- CN211466458U CN211466458U CN202021646911.9U CN202021646911U CN211466458U CN 211466458 U CN211466458 U CN 211466458U CN 202021646911 U CN202021646911 U CN 202021646911U CN 211466458 U CN211466458 U CN 211466458U
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Abstract
The utility model discloses a mobile industrial measuring robot based on SLAM technology, which comprises a sealed cabin, a data processor, a positioning and mapping module, a motor-driven movable chassis, a motor driver, a storage cabin, a touch display, a power module, an in-cabin environment detection device, an online detection module, a contact probe measuring device, an mechanical arm and a communication module; the positioning and mapping module, the motor driver, the touch display, the power supply module, the in-cabin environment detection device, the online detection module, the contact type probe measurement device, the mechanical arm and the communication module are respectively connected with the data processor, and the movable chassis driven by the motor is connected with the motor driver. Through the utility model discloses, can realize more accurate work piece and measure.
Description
Technical Field
The utility model belongs to the technical field of the robot and specifically relates to mobile industrial measurement robot based on SLAM technique.
Background
The traditional industrial measurement method is mainly divided into an on-line measurement method and an off-line measurement method, wherein the on-line measurement method is to carry out direct measurement on an industrial production line; the off-line measurement means that after the production operation is finished, the part is transferred to a special measuring device for measurement. The on-line measurement has the advantages of high measurement efficiency and capability of carrying out real-time measurement under the condition of not influencing production. However, the online measurement has the following disadvantages:
1. because the environment during measurement can not be guaranteed and the measurement result needs to be generated quickly, the measurement precision of online measurement is not high, and the method is only suitable for occasions requiring low measurement precision;
2. production equipment of many factories does not leave an interface for on-line measurement when being purchased, so that a new measuring device can be additionally arranged on the basis of the original equipment at a higher cost;
3. the on-line measuring equipment can only be used for one production equipment, so that when the measuring requirement changes dynamically, the waste of measuring resources is caused.
Although the off-line measurement can be more accurate, the off-line measurement also has the following disadvantages:
1. in order to ensure the stability of the measuring environment, the offline measurement needs to firstly transfer the parts from the space of the production equipment to the space of the measuring equipment, and the measuring efficiency is low;
2. in addition, during the transferring process of the parts, the parts are often transferred manually, and for many parts with strict measurement requirements, manual participation can bring uncertain factors to the measurement, or in the case that some production environments are not suitable for people to enter, a robot is required to replace the manual work.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provide a mobile industrial measuring robot based on SLAM technology, which comprises a sealed cabin, a data processor, a positioning and mapping module, a motor-driven movable chassis, a motor driver, a storage cabin, a touch display, a power supply module, an in-cabin environment detection device, an online detection module, a contact probe measuring device, a mechanical arm and a communication module, wherein the data processor is arranged on the sealed cabin;
the positioning and mapping module is connected with the data processor and arranged on a movable chassis driven by a motor; the storage bin is arranged above the movable chassis driven by the motor; the sealing bin is arranged above the storage bin; the in-bin environment detection device is connected with the data processor and arranged in the sealed bin; the contact type probe measuring device is connected with the data processor and arranged in the sealed cabin; the online detection module is connected with the data processor and arranged above the sealed cabin; the mechanical arm is connected with the data processor and arranged above the online detection module; the movable chassis driven by the motor is also connected with the motor driver; the motor driver, the touch display, the power module and the communication module are respectively connected with the data processor, and the touch display is arranged on the online detection module; the motor driver is also connected with the movable chassis driven by the motor.
Preferably, the positioning and mapping module comprises a laser radar, a camera, an ultrasonic sensor and a robot autonomous positioning and navigation module, the laser radar, the camera and the ultrasonic sensor are respectively connected with the robot autonomous positioning and navigation module, and the robot autonomous positioning and navigation module is connected with the data processor.
Preferably, the in-bin environment detection device comprises a temperature sensor, a humidity sensor, a light sensor and an analog-to-digital converter; the temperature sensor, the humidity sensor and the light sensor are respectively connected with the analog-to-digital converter, and the analog-to-digital converter is connected with the data processor.
Preferably, the online detection module comprises a telecentric lens, an industrial camera and a light source, the industrial camera is connected with the data processor, the light source is connected with the power module, and the telecentric lens is arranged on the industrial camera.
Preferably, the contact probe measuring device comprises a motor, a motor driver II, a ball screw and a measuring contact probe; the measuring contact type probe is arranged on a nut of a ball screw, and the ball screw is arranged at the top of the sealed cabin; the ball screw is driven by a motor, the motor is driven by a motor driver II, and the motor driver II and the measuring contact type probe are respectively connected with the data processor.
Preferably, the SLAMWARE module is adopted by the robot autonomous positioning navigation module.
Preferably, the mechanical arm adopts a 7-degree-of-freedom mechanical arm, and the model of the 7-degree-of-freedom mechanical arm is Jaco 27 DOF-S.
The utility model has the advantages that: the utility model discloses an industrial detection functions such as integrated vision on-line measuring, sealed storehouse environmental control, optics off-line measuring, contact off-line monitoring accomplish functions such as environmental perception, map construction, automatic navigation, article transportation through SLAM, have realized the measuring effect of higher accuracy.
Drawings
FIG. 1 is a schematic diagram of a mobile industrial measurement robot based on SLAM technology;
FIG. 2 is a schematic diagram A of an implementation of a mobile industrial measurement robot based on SLAM technology;
fig. 3 is a schematic diagram B of an implementation of a mobile industrial measurement robot based on SLAM technology.
Detailed Description
The technical solution of the present invention is described in further detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
As shown in fig. 1, the present invention provides a mobile industrial measurement robot based on SLAM technology, which uses laser radar as the main part and uses other sensors such as camera and ultrasonic wave as the auxiliary part to integrate with multi-sensor SLAM composition technology, that is, real-time detect the external environment through various sensors, thereby generating an external environment map, and obtain the position of the robot in the map, the position of other movable obstacles in the map, etc.; the factory environment is scanned, patterned and detected through a plurality of sensors such as laser radars, cameras and ultrasonic waves carried by the robot, and especially, the factory environment is scanned for a plurality of times at the position of production equipment, or markers with special shapes are added for auxiliary patterning and positioning.
When a certain device needs to be measured, the robot reaches the vicinity of the production device according to a scanned factory map, and real-time detected personnel and obstacles;
if on-line measurement is needed, the robot adjusts the on-line measurement module to a proper position, adjusts auxiliary measurement equipment such as structured light and the like, and then performs on-line measurement;
if off-line measurement is needed, the robot transfers the workpiece from the production equipment to the sealed bin through the mechanical arm and puts the workpiece in the sealed bin; closing the door of the sealed cabin and starting optical measurement or contact measurement; taking out the workpiece after measurement, and putting the workpiece back or transferring the workpiece to a transportation storage bin; if the parts need to be transferred to a special measuring chamber for measurement, the robot directly transfers the workpieces from the production equipment to a transportation storage bin through a mechanical arm;
specifically, the mobile industrial measuring robot based on the SLAM technology comprises a sealed cabin, a data processor, a positioning and mapping module, a movable chassis driven by a motor, a motor driver, a storage cabin, a touch display, a power supply module, an in-cabin environment detection device, an online detection module, a contact type probe measuring device, a mechanical arm and a communication module;
the positioning and map building module is connected with the data processor, arranged on a movable chassis driven by a motor and used for building a map according to the field environment and automatically avoiding obstacles and navigating; the storage bin is arranged above the movable chassis driven by the motor and used for storing workpieces; the sealed bin is arranged above the storage bin, and the mechanical arm transfers the workpiece from the production equipment into the sealed bin; the in-bin environment detection device is connected with the data processor, is arranged in the sealed bin and is used for measuring environmental data in the bin; the contact type probe measuring device is connected with the data processor, arranged in the sealed bin and used for measuring the size of the workpiece in the sealed bin; the online detection module is connected with the data processor, arranged above the sealed cabin and used for online measurement; the mechanical arm is connected with the data processor, arranged above the on-line detection module and used for transferring workpieces; the movable chassis driven by the motor is also connected with the motor driver; the motor driver, the touch display, the power module and the communication module are respectively connected with the data processor, and the touch display is arranged on the online detection module; the motor driver is also connected with the movable chassis driven by the motor.
The positioning and mapping module specifically comprises a laser radar, a camera, an ultrasonic sensor and a robot autonomous positioning and navigation module, wherein the laser radar, the camera and the ultrasonic sensor are respectively connected with the robot autonomous positioning and navigation module, and the robot autonomous positioning and navigation module is connected with the data processor.
The in-bin environment detection device comprises a temperature sensor, a humidity sensor, a light sensor and an analog-to-digital converter; the temperature sensor, the humidity sensor and the light sensor are respectively connected with the analog-to-digital converter, and the analog-to-digital converter is connected with the data processor.
As shown in fig. 2, the on-line detection module includes a telecentric lens, an industrial camera and a light source, the industrial camera is connected to the data processor, the light source is connected to the power module, and the telecentric lens is disposed on the industrial camera.
The contact type probe measuring device comprises a motor, a motor driver II, a ball screw and a measuring contact type probe, wherein the measuring contact type probe is installed on a nut of the ball screw, the ball screw is driven by the motor, the motor is driven by the motor driver II, the motor driver II and the measuring contact type probe are respectively connected with the data processor, and a workpiece is taken out and placed back or transferred to the transportation storage bin after measurement is completed.
The robot autonomous positioning navigation module adopts a SLAMWARE module.
The mechanical arm adopts a 7-freedom-degree mechanical arm, and the model of the 7-freedom-degree mechanical arm is Jaco 27 DOF-S. In particular, fig. 3 shows a schematic diagram of an implementation of a mobile industrial measurement robot based on SLAM technology.
The foregoing is illustrative of the preferred embodiments of the present invention, and it is to be understood that the invention is not limited to the precise forms disclosed herein, and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the invention as defined by the appended claims. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.
Claims (7)
1. The mobile industrial measuring robot based on the SLAM technology comprises a sealed cabin and is characterized by comprising a data processor, a positioning and mapping module, a motor-driven movable chassis, a motor driver, a storage cabin, a touch display, a power supply module, an in-cabin environment detection device, an online detection module, a contact probe measuring device, a mechanical arm and a communication module;
the positioning and mapping module is connected with the data processor and arranged on a movable chassis driven by a motor; the storage bin is arranged above the movable chassis driven by the motor; the sealing bin is arranged above the storage bin; the in-bin environment detection device is connected with the data processor and arranged in the sealed bin; the contact type probe measuring device is connected with the data processor and arranged in the sealed cabin; the online detection module is connected with the data processor and arranged above the sealed cabin; the mechanical arm is connected with the data processor and arranged above the online detection module; the movable chassis driven by the motor is also connected with the motor driver; the motor driver, the touch display, the power module and the communication module are respectively connected with the data processor, and the touch display is arranged on the online detection module; the motor driver is also connected with the movable chassis driven by the motor.
2. The SLAM technology-based mobile industrial measurement robot of claim 1, wherein the positioning and mapping module comprises a laser radar, a camera, an ultrasonic sensor and a robot autonomous positioning navigation module, wherein the laser radar, the camera and the ultrasonic sensor are respectively connected with the robot autonomous positioning navigation module, and the robot autonomous positioning navigation module is connected with the data processor.
3. The SLAM technology-based mobile industrial measurement robot of claim 1, wherein said in-bin environment detection means comprises a temperature sensor, a humidity sensor, a light sensor, an analog to digital converter; the temperature sensor, the humidity sensor and the light sensor are respectively connected with the analog-to-digital converter, and the analog-to-digital converter is connected with the data processor.
4. The SLAM technology-based mobile industrial measurement robot of claim 1, wherein the on-line detection module comprises a telecentric lens, an industrial camera and a light source, the industrial camera is connected to the data processor, the light source is connected to the power module, and the telecentric lens is disposed on the industrial camera.
5. The SLAM technology-based mobile industrial measurement robot of claim 1, wherein the contact probe measurement device comprises a motor, a motor driver II, a ball screw and a measurement contact probe; the measuring contact type probe is arranged on a nut of a ball screw, and the ball screw is arranged at the top of the sealed cabin; the ball screw is driven by a motor, the motor is driven by a motor driver II, and the motor driver II and the measuring contact type probe are respectively connected with the data processor.
6. The SLAM technology-based mobile industrial measurement robot of claim 2, wherein the robot autonomous positioning navigation module employs a SLAMWARE module.
7. The SLAM technology-based mobile industrial measurement robot of claim 1, wherein said robot arm is a 7 degree of freedom robot arm, said 7 degree of freedom robot arm being of the type Jaco 27 DOF-S.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021646911.9U CN211466458U (en) | 2020-08-10 | 2020-08-10 | Mobile industrial measuring robot based on SLAM technology |
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| CN202021646911.9U CN211466458U (en) | 2020-08-10 | 2020-08-10 | Mobile industrial measuring robot based on SLAM technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7225452B1 (en) | 2022-02-24 | 2023-02-20 | Dmg森精機株式会社 | Unmanned transport device and processing system equipped with the same |
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2020
- 2020-08-10 CN CN202021646911.9U patent/CN211466458U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7225452B1 (en) | 2022-02-24 | 2023-02-20 | Dmg森精機株式会社 | Unmanned transport device and processing system equipped with the same |
| JP2023123059A (en) * | 2022-02-24 | 2023-09-05 | Dmg森精機株式会社 | Unmanned conveyance device and machining system including the same |
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Effective date of registration: 20200907 Address after: No.37, No.203, No.31, Jianghan Road, Qingyang District, Chengdu, Sichuan 610000 Patentee after: Han Zhenyu Address before: No.36, 16 / F, building 8, No.88, jiaozi Avenue, hi tech Zone, Chengdu, Sichuan 610000 Patentee before: Sichuan Shiyu Zhihui Technology Co.,Ltd. |
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Effective date of registration: 20211015 Address after: 402760 No.92 Donglin Avenue, Biquan street, Bishan District, Chongqing Patentee after: Chongqing yufeite Technology Co.,Ltd. Address before: 610000 No. 37, courtyard 203, No. 31, Jianghan Road, Qingyang District, Chengdu, Sichuan Patentee before: Han Zhenyu |
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Effective date of registration: 20211026 Address after: 402760 No.92 Donglin Avenue, Biquan street, Bishan District, Chongqing Patentee after: Chongqing yufeite Technology Co.,Ltd. Address before: 610000 No. 37, courtyard 203, No. 31, Jianghan Road, Qingyang District, Chengdu, Sichuan Patentee before: Han Zhenyu |
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| TR01 | Transfer of patent right |