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Spatial positioning method and spatial positioning system for climbing robot

A space positioning and robot technology, which is applied in the direction of instruments, motor vehicles, manipulators, etc., can solve the problems of complex calculation process, multi-sensor, and inability to solve the positioning of wall-climbing robots stably and effectively, so as to simplify the positioning method, improve the positioning accuracy, The effect of stabilizing effective spatial positioning

Active Publication Date: 2021-08-20
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this solution, the position, motion state, and pose information of each joint of the wall-climbing robot are monitored in real time, which is convenient for accurate detection and control, reduces the difficulty of control, and realizes offline training of operators, but requires the use of more sensors and the calculation process It is complex and cannot solve the positioning of wall-climbing robots stably and effectively

Method used

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  • Spatial positioning method and spatial positioning system for climbing robot
  • Spatial positioning method and spatial positioning system for climbing robot
  • Spatial positioning method and spatial positioning system for climbing robot

Examples

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Embodiment 1

[0050] A space positioning method for a climbing robot. The climbing robot includes a robot body and a robot control system arranged on a computer. The robot body includes two sets of robot ends, and the robot ends are provided with adsorption modules for walking. A camera is fixedly installed, and the adsorption module and the camera are connected to the signal of the robot control system. The spatial positioning method includes the following steps:

[0051] S1: Perform information extraction and calculation based on the building information model to obtain a two-dimensional code mark information database; the building information model includes glass curtain walls (2), rods and several different two-dimensional code marks (1), the rods Connected between adjacent glass curtain walls (2), the two-dimensional code mark (1) is arranged on the glass curtain walls (2);

[0052] S2: collect image information through the camera, and transmit it to the robot control system through th...

Embodiment 2

[0092] A spatial positioning system using the spatial positioning method of the climbing robot as described above, such as Figure 4 As shown, including climbing robot 3, computer and two-dimensional code mark 1, climbing robot 3 is provided with adsorption module, and adsorption module is provided with camera, image transmission module, data transmission module and sensor module, and computer is provided with robot control system and Adsorption module control system, the adsorption module control system is equipped with a two-dimensional code identification module and a two-dimensional code marking information database, the camera is connected to the image transmission module, the sensor module is connected to the data transmission module, and the image transmission module and the data transmission module are connected to the adsorption module The control system is connected, the two-dimensional code recognition module can recognize the two-dimensional code mark 1, and the two...

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Abstract

The invention relates to the technical field of visual positioning of robots, in particular to a space positioning method and a space positioning system for a climbing robot. The space positioning system comprises an offline operation module and an online operation module. Offline operation comprises the steps of performing information extraction and operation on a building information model, solving a transformation matrix of a mark coordinate system and a world coordinate system, generating a manual mark information database, performing camera calibration, performing hand-eye calibration and the like; and online operation comprises the steps of performing real-time video monitoring and image capture, performing mark detection and pose estimation, performing two-dimensional code mark information database retrieval, performing absolute pose solving of the climbing robot and the like. The offline operation and the online operation are combined, so that the use of sensors is reduced and the algorithm calculation process is simplified; and each two-dimensional code mark has unique ID information, and a single two-dimensional code mark can provide enough corresponding points, so that remote space positioning in the climbing process of the climbing robot is realized and the positioning precision is improved.

Description

technical field [0001] The present invention relates to the technical field of visual positioning of robots, and more specifically, to a spatial positioning method and a spatial positioning system for a climbing robot. Background technique [0002] With the popularization of large-scale glass curtain walls in urban buildings, the daily tasks related to curtain walls such as cleaning, overhaul, and maintenance are becoming more and more important, and wall-climbing robots that can be used to replace workers to perform these tasks, as an automated, intelligent The solution has become the focus of scientific research institutions and related enterprises. [0003] Experts and scholars at home and abroad have done more research on the attachment mode, movement mode and mechanical structure of wall-climbing robots, and developed a variety of wall-climbing robots, such as claw type, magnetic suction type, pneumatic adsorption type, connecting rod type, drone type, bipedal linkage ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B62D57/024G06K7/14G06K17/00G06T7/80A47L1/02
CPCB25J9/1605B25J9/1697B62D57/024G06T7/80G06K7/1452G06K7/1443G06K17/0029A47L1/02
Inventor 叶文达朱海飞付紫杨管贻生
Owner GUANGDONG UNIV OF TECH
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