CN119773363A - Mobile robot printing operation method - Google Patents
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- CN119773363A CN119773363A CN202411666765.9A CN202411666765A CN119773363A CN 119773363 A CN119773363 A CN 119773363A CN 202411666765 A CN202411666765 A CN 202411666765A CN 119773363 A CN119773363 A CN 119773363A
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Abstract
本发明公开了一种移动机器人打印作业方法，所述方法如下：步骤1：启动初始化移动机器人，自动标定喷涂打印头零位，提取作业地图的数据信息；步骤2：确定激光定位摆放位置，完成激光定位设备调平，通过机器人上安装的靶球测量和跟踪机器人的位置；步骤3：生成自动作业路径：选择要作业的地图，对齐基准，地图坐标系映射到地面作业区域，编辑地图设置碍障物信息，框选部分或者全部作业范围，参数设置，调用路径规划算法生成作业路径以及打印工艺信息；步骤4：机器人根据作业路径以及打印工艺信息，在作业区域进行打印作业；打印作业完成，结束自动作业流程；本发明利用绝对定位装置测量安装在移动机器人端的反射装置，实现优化移动机器人喷涂打印定位的位置精度。
The present invention discloses a mobile robot printing operation method, which is as follows: step 1: start and initialize the mobile robot, automatically calibrate the zero position of the spray print head, and extract data information of the operation map; step 2: determine the placement position of the laser positioning, complete the leveling of the laser positioning equipment, and measure and track the position of the robot through a target ball installed on the robot; step 3: generate an automatic operation path: select the map to be operated, align the benchmark, map the map coordinate system to the ground operation area, edit the map to set obstacle information, select part or all of the operation range, set parameters, and call the path planning algorithm to generate the operation path and printing process information; step 4: the robot performs a printing operation in the operation area according to the operation path and the printing process information; the printing operation is completed, and the automatic operation process is ended; the present invention uses an absolute positioning device to measure a reflection device installed on the mobile robot end, so as to optimize the position accuracy of the mobile robot's spray printing positioning.
Description
Technical Field
The invention belongs to the technical field of mobile printing, and particularly relates to a mobile robot printing operation method.
Background
The mobile robot with the spraying printing function can be applied to various scenes, and is mainly applied to scenes such as building construction site paying-off, factory planning positioning paying-off, exhibition venue planning layout, road sign marking construction and the like. The technology of the application is applied to a mobile robot with appointed meaning marks such as symbols, characters, curves and the like which are sprayed or printed on a plane (such as a building decoration to-be-constructed ground, a factory equipment installation ground, an exhibition hall exhibition ground, a road construction mark marking ground and the like).
The most difficult challenge of such mobile robots is how to accurately transfer design information on a plane. In practical engineering applications, the accuracy required by the construction party is generally in the order of centimeters or even millimeters, however, the positioning of the mobile robot is difficult to achieve. The method for positioning the position of the mobile robot in the space is generally adopted, namely, the distance between the robot and a known surrounding environment, namely, a map (such as a wall surface and a column) is perceived in real time by using a sensor (usually a laser radar), and the current top-level sensor can only realize the positioning of the public classification precision, so that the positioning capability of the mobile robot is limited even under the condition of repeated optimization of links such as a building map, a positioning algorithm and the like. At present, the application scene generally adopts a manual physical marking mode, paper design drawings and digital requirements are presented on a construction ground, and particularly, an engineer mainly adopts manual measurement and physical marking, such as measuring the distance between a column and a wall, is paid off on a working surface through a traction ink line, and is guided accurately by a total station in the process, so that the working efficiency and the positioning accuracy are improved.
The absolute positioning device generally realizes high-precision three-dimensional measurement based on light and automatic control technology, has the characteristic of portability, and is mainly used in the field of large-size space coordinate measurement. Advanced techniques such as laser intervention ranging, angle measurement and the like are generally adopted. Based on the measurement principle of the spherical coordinate method, the accurate measurement of the three-dimensional coordinates can be realized by measuring angles and distances. At present, in the field of large-size precise measurement, a laser tracker which has the advantages of wide measurement range, high precision, multiple functions, field measurement and the like is generally adopted. The device can replace a plurality of traditional measuring devices, such as a large fixed three-coordinate measuring machine, a theodolite, a total station and the like, and shows high measuring precision and efficiency in the application fields of device calibration, part detection, tool manufacturing and debugging, integrated assembly, reverse engineering and the like. In the field of precision engineering measurement or deformation monitoring such as large-scale buildings, underground tunnel construction, venue construction, etc., total stations (total station type electronic rapid measuring devices) having various functions such as angle measurement, distance (slant distance, flat distance, height difference) measurement, three-dimensional coordinate measurement, wire measurement, intersection fixed point measurement, lofting measurement, etc. are widely used.
Disclosure of Invention
The invention aims to design a printing operation method of a mobile robot, which has the functions of moving according to any planned track in a plane and drawing the outline of the moving track.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a mobile robot print job method is characterized by comprising the following steps:
step 1, starting an initializing mobile robot, automatically calibrating a zero position of a spraying printing head, and extracting data information of an operation map;
Step 2, determining the laser positioning and placing position, finishing leveling of the laser positioning equipment, and measuring and tracking the position of the robot through a target ball arranged on the robot;
step 3, generating an automatic operation path, namely selecting a map to be operated, aligning a reference, mapping a map coordinate system to a ground operation area, editing map setting obstacle information, selecting part or all operation ranges in a frame mode, setting parameters, and calling a path planning algorithm to generate an operation path and printing process information;
And 4, the robot performs printing operation in the operation area according to the operation path and the printing process information, and finishes the automatic operation flow after the printing operation is finished.
Further, the mobile printing robot is communicated with the terminal, receives and executes a control instruction issued by the terminal, feeds back the state of the robot and an automatic operation result, and the laser positioning device tracks a positioning target ball on the printing operation robot, measures the coordinates of the current mobile printing robot relative to the laser positioning device and then sends position measurement information to the mobile printing robot.
Further, in step 1, the mobile robot is started, a command for returning to zero of the printing head is sent to the robot through the terminal, and when the execution of the zero returning action is completed, the control unit automatically informs the ranging sensor to measure the actual zero position of the printing head.
Furthermore, the control unit performs a plurality of measurements and transmits the measurement data to the algorithm module for filtering processing to obtain an accurate measurement value, then calculates the actual zero offset and stores the zero offset, and the offset can be subtracted or added to the control amount when the movement of the printing head is controlled in the subsequent operation process, thereby improving the spraying operation precision.
Further, after the three-dimensional measurement device is started and initialized in the step 1, the initial aiming of the reflecting device and the three-dimensional measurement device is completed by manual assistance, after the initial aiming is completed, the mobile robot is started and initialized, the three-dimensional measurement device sends measured coordinate data of the reflecting device to the mobile robot control unit in real time through the wireless communication device, the control unit analyzes and stores the received data, analyzes and stores the received data for the first time, and starts from the second time of receiving the data, the three-dimensional measurement device can be actively aimed by calculating rotation angles theta of two adjacent moments each time and finally controlling the reflecting device to rotate corresponding angle values.
Further, the three-dimensional measuring device may actively target the reflecting means and the reflecting means reflect the laser beam within ±45 ℃ so that the reflecting means is not rotated when θ is less than a threshold θ e.
Further, the method for calculating the rotation angle θ at two adjacent moments is as follows:
Vector quantity Can be calculated from the coordinates of the reflecting means at A, i.eVector quantityCan be calculated from the coordinates of the reflecting means at B, i.eFurther calculate the cross vector of two vectors:
The rotation angle θ can be calculated as:
vector cross product Is a vector defining a direction which is positive when it is oriented at less than 90C and negative when it is oriented at greater than 90C,The direction of the three-dimensional measuring device is greater than 90 ℃ with the Z-axis included angle, so the value of theta is negative, and the clockwise rotation is negative when the reflecting device rotates anticlockwise around the central axis of the reflecting device.
The following beneficial effects can be obtained through the technical scheme:
the invention utilizes the absolute positioning device to measure the reflecting device arranged at the end of the mobile robot, thereby realizing the optimization of the position accuracy of the spraying printing positioning of the mobile robot.
Meanwhile, the invention can subtract or add the deviation amount to the control amount by calculating the actual zero deviation when controlling the movement of the printing head in the subsequent operation process so as to eliminate the system error and achieve the purpose of improving the operation precision.
The invention can realize that the reflecting device aims at the three-dimensional measuring equipment automatically in the operation process of the robot only by the measuring data of the three-dimensional measuring equipment, can reduce the cost of the robot, and has the advantages of very simple method, high precision and no accumulated error more importantly.
Drawings
Fig. 1 is a flow chart of the present invention.
FIG. 2 is a diagram of the composition of the system of the present invention
Fig. 3 is a schematic diagram of a mobile robot.
Fig. 4 is a schematic diagram of coordinates.
Fig. 5 is a schematic view of the rotation angle θ.
Detailed Description
The invention is further described with reference to the accompanying drawings:
As shown in figures 1 and 2, a mobile robot is started, straight lines (solid lines and broken lines), circles, curves, symbols, characters, figures, two-dimensional codes and color data information on a CAD drawing or BIM are extracted, laser positioning and placing positions are determined, laser positioning equipment leveling is completed, positions of the robot are measured and tracked through target balls arranged on the robot, an automatic operation path is generated, a map to be operated is selected, an alignment reference is mapped to a ground operation area, obstacle information is edited on the map, part or all of operation ranges are selected in a frame mode, parameters are set, a path planning algorithm is called to generate an operation path and printing process information, the robot performs printing operation on the operation area according to the operation path and the printing process information, the printing operation is completed, and the automatic operation flow is ended.
The automatic operation route can avoid the set obstacle, and simultaneously, people or other objects and pits which temporarily appear around are sensed in real time through the ultrasonic sensor in the movement process of the robot, so that the obstacle stopping is performed, and the voice alarm is started.
Parameters can be set, the state, the coordinate position, the movement speed and the angular speed of the robot can be displayed, the chassis, the cradle head motor, the traversing motor, the ink jet test, the operation data can be imported, the operation path can be generated, and the automatic operation task can be issued through operating terminal APP terminal software.
The laser positioning device tracks a positioning target ball on the printing operation robot, measures the coordinates of the current mobile printing robot relative to the laser positioning device, and then sends position measurement information to the mobile printing robot.
As shown in fig. 3, the painting printing system mounted on the mobile robot in the embodiment of the present patent is constituted by a painting print head, a print head control mechanism, a print head traversing mechanism, and a distance measuring sensor. In the spraying operation process, the mobile robot calculates the position of the printing head in real time according to the received position information through an algorithm module in the control unit, and finally the spraying printing head is driven to move along the printing head traversing mechanism through the printing head control mechanism, so that the purpose of accurate spraying operation is achieved. From the above description, it is clear that the accuracy of the movement of the spray printing head on the traversing mechanism plays a critical role in the accuracy of the operation.
As shown in fig. 4, the coordinate system of the robot is constructed by defining a Y-axis with the center of the two wheels as the origin of coordinates and the central axis of the robot along the advancing direction as the X-axis and the right-hand rule. L in the left diagram of fig. 4 represents the distance from the ranging sensor to the X-axis of the robot, defining the width of the print head as W. When the mobile robot commands the spray printing head to return to zero, the printing head should be on the axis of the mobile robot, i.e. the theoretical zero position of the printing head, according to the design and control principle. However, in actual operation, the robot often has uncontrollable system errors, such as manufacturing errors, installation errors, errors caused by transportation vibration, and wear of parts after long-term operation. When the mobile robot executes the zeroing instruction, if the actual zero position of the printing head is not calibrated, or the theoretical zero position is used, the errors are obviously introduced in subsequent operations. As shown in the right graph of fig. 4, the actual zero position of the print head is deviated from the central axis position by the right, and the zero deviation is:
e=d-L+w/2
where d is the actual measurement of the ranging sensor.
When e >0, the distance from the actual zero position of the printing head to the ranging sensor is larger than that from the theoretical zero position, and the distance is close to the negative half axis of the Y axis of the robot.
When e <0, the distance from the actual zero position of the printing head to the ranging sensor is smaller than that from the theoretical zero position, and the distance is close to the positive half shaft of the Y axis of the robot.
After the mobile robot is started, a command for zeroing the printing head can be sent to the robot through the portable computing device, and when the zeroing action is completed, the control unit automatically informs the ranging sensor to measure the actual zero position of the printing head. Because the sensor often has measurement noise, the control unit can inform to perform multiple measurements and transmit the measurement data to the algorithm module for filtering processing to obtain more accurate measurement values, and then further calculate the actual zero offset and store the actual zero offset. The deviation amount can be subtracted or added to the control amount when the printing head is controlled to move in the subsequent operation process, so that the spraying operation precision is improved.
Fig. 5 shows that the reflecting means of the mobile robot at position a has been aimed accurately, i.e. the laser beam (indicated by a broken line) emitted by the three-dimensional measuring device can be reflected accurately by the reflecting means. When the mobile robot moves from the position A to the position B along any track, the reflecting device generates a large position change around the origin of the three-dimensional measuring device, thereby changing the mutual aiming direction between the reflecting device and the three-dimensional measuring device. In order to enable the three-dimensional measuring equipment to quickly and accurately track the position of the measuring reflecting device, the method of actively controlling the reflecting device to rotate by a certain angle theta enables the reflecting device to always face the origin of the three-dimensional measuring equipment. The rotation angle θ is calculated as follows:
Vector quantity Can be calculated from the coordinates of the reflecting means at A, i.eVector quantityCan be calculated from the coordinates of the reflecting means at B, i.eFurther calculate the cross vector of two vectors:
The rotation angle θ can be calculated as:
vector cross product Is a vector, the present patent defines that the direction is positive when the Z-axis angle of the three-dimensional measuring device is less than 90 degrees and negative when the Z-axis angle is greater than 90 degrees. As in the case shown in figure 5 of the drawings,The direction of (a) is greater than 90 DEG from the Z-axis of the three-dimensional measuring device, so the value of θ is negative. The invention defines that the reflecting device rotates anticlockwise around the central axis of the reflecting device to be positive, the clockwise rotation is negative, and theta in the case shown in fig. 5 is negative, so that the origin of the three-dimensional measuring equipment can be actively aimed by controlling the corresponding angle value of the clockwise rotation of the reflecting device.
As can be seen from the above calculation equation, the method of the present invention has the advantages of simple calculation, stable values, no accumulated error, no dependence on any other sensor, no need of classifying the motion trail of the robot, and the application in the scene of positioning the mobile robot by the three-dimensional device and the reflecting device.
The method specifically comprises the steps of starting the three-dimensional measuring equipment and initializing, and completing initial aiming of the reflecting device and the three-dimensional measuring equipment by manual assistance. After the initial aiming is finished, starting the mobile robot and initializing, and then the three-dimensional measuring equipment sends the measured coordinate data of the reflecting device to the mobile robot control unit in real time through the wireless communication equipment. The control unit analyzes and saves the received data, analyzes and saves the received data for the first time, and calculates the rotation angle theta of two adjacent moments through the above equation each time from the second time of receiving the data. Finally, the reflection device is controlled to rotate by a corresponding angle value, so that the reflection device can actively aim at the three-dimensional measurement equipment. Further, since the three-dimensional measuring apparatus can actively aim at the reflecting means and the reflecting means reflects the laser beam within ±45°, the reflecting means may not be rotated when |θ| is smaller than the threshold value θ e (which must be smaller than 45 °).
The reflecting device can automatically aim at the three-dimensional measuring equipment in the operation process of the robot only by the measuring data of the three-dimensional measuring equipment, the cost of the robot can be reduced, the method is very simple, and more importantly, the accuracy is high and no accumulated error exists. The invention comprises a mobile robot, a three-dimensional measuring device, typically a total station, a tracker, a position monitoring device, etc. The three-dimensional measuring equipment irradiates the device with the reflecting function on the mobile robot by emitting laser beams, and the device with the reflecting function is fixed on the mobile robot, so that the position of the reflecting device can be reflected in real time. The above-described connection is not limited to a detachable or permanently fixed manner. The measurement information collected by the three-dimensional measurement device is transmitted to the mobile robot in a wireless mode, such as WIFI, radio waves, optics and the like. The transmission of measurement information needs to have low delay and low packet loss rate, i.e. real-time and accuracy of transmission. The low delay can ensure that the mobile robot responds quickly in time and the accuracy can ensure that the track of the mobile robot tends to a theoretical value.
The foregoing is a preferred embodiment of the present application, and modifications, obvious to those skilled in the art, of the various equivalent forms of the present application can be made without departing from the principles of the present application, are intended to be within the scope of the appended claims.
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| CN202411666765.9A CN119773363A (en) | 2024-11-21 | 2024-11-21 | Mobile robot printing operation method |
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| US20060164454A1 (en) * | 2004-05-27 | 2006-07-27 | Silverbrook Research Pty Ltd | Method for at least partially compensating for errors in ink dot placement due to erroneous rotational displacement |
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| CN114147723A (en) * | 2021-12-20 | 2022-03-08 | 中国建筑第五工程局有限公司 | Automatic lofting robot system and operation method thereof |
| CN219405839U (en) * | 2022-11-02 | 2023-07-25 | 深圳市鑫浩自动化技术有限公司 | Automatic calibration device for alignment of character jet printer |
| CN118024763A (en) * | 2024-02-20 | 2024-05-14 | 佛山道善智能机器人有限公司 | Method and system for improving position accuracy of mobile spraying printing robot |
-
2024
- 2024-11-21 CN CN202411666765.9A patent/CN119773363A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060164454A1 (en) * | 2004-05-27 | 2006-07-27 | Silverbrook Research Pty Ltd | Method for at least partially compensating for errors in ink dot placement due to erroneous rotational displacement |
| CN101957175A (en) * | 2010-09-14 | 2011-01-26 | 西安交通大学 | Three-point micro-plane-based normal detection method |
| CN110202953A (en) * | 2019-07-02 | 2019-09-06 | 深圳劲鑫科技有限公司 | A kind of single workbench ink jet printer |
| CN111791589A (en) * | 2020-09-10 | 2020-10-20 | 季华实验室 | Inkjet printer-based positioning detection method, device, electronic device and medium |
| CN112238012A (en) * | 2020-09-28 | 2021-01-19 | 青岛金光鸿智能机械电子有限公司 | Omnidirectional navigation automatic spraying system and method |
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| CN219405839U (en) * | 2022-11-02 | 2023-07-25 | 深圳市鑫浩自动化技术有限公司 | Automatic calibration device for alignment of character jet printer |
| CN118024763A (en) * | 2024-02-20 | 2024-05-14 | 佛山道善智能机器人有限公司 | Method and system for improving position accuracy of mobile spraying printing robot |
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