CN113352334A - Mobile flexible scanning robot system - Google Patents
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- CN113352334A CN113352334A CN202110580052.0A CN202110580052A CN113352334A CN 113352334 A CN113352334 A CN 113352334A CN 202110580052 A CN202110580052 A CN 202110580052A CN 113352334 A CN113352334 A CN 113352334A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
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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
- B25J19/026—Acoustical sensing devices
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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
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Abstract
本发明提供一种移动柔性扫描机器人系统，包括移动平台模块、柔性机械臂模块、多模态扫描仪模块，所述移动平台模块为整个系统提供平面移动能力，且所述移动平台模块可在平面内任意移动，所述柔性机械臂模块安装在移动平台模块上，且所述柔性机械臂模块有多个运动自由度，为多模态扫描仪提供三维空间移动能力，所述多模态扫描仪模块安装在柔性机械臂末端，可获取空间的多个模态信息。本发明使用移动平台模块负载柔性机械臂模块和多模态扫描仪模块进行平面空间移动，使用柔性机械臂模块负载多模态扫描仪模块进行三维空间移动，能够实现多模态扫描仪模块的自主移动，使得扫描方式更加灵活。
The present invention provides a mobile flexible scanning robot system, including a mobile platform module, a flexible mechanical arm module, and a multi-modal scanner module. The mobile platform module provides plane movement capability for the entire system, and the mobile platform module can be used in a plane The flexible robotic arm module is installed on the mobile platform module, and the flexible robotic arm module has multiple degrees of freedom of movement, providing three-dimensional space movement capability for the multi-modal scanner. The module is installed at the end of the flexible manipulator and can obtain multiple modal information in space. The present invention uses the mobile platform module to load the flexible mechanical arm module and the multi-modal scanner module for plane space movement, and uses the flexible mechanical arm module to load the multi-modal scanner module for three-dimensional space movement, and can realize the autonomy of the multi-modal scanner module. Mobile, making the scanning method more flexible.
Description
Technical Field
The invention belongs to the field of robot systems, and particularly relates to a mobile flexible scanning robot system.
Background
In recent years, the requirement on a high-precision three-dimensional model in social production and life is higher and higher, and the three-dimensional model can be manufactured by a model designer by using three-dimensional model design software; on the other hand, a three-dimensional scanner can be used for three-dimensionally scanning the actual object, and then a corresponding three-dimensional model is generated by utilizing a computer technology. Three-dimensional scanning is a high and new technology integrating light, mechanical, electrical and computer technologies, and is mainly used for scanning the spatial appearance, structure and color of an object by means of a three-dimensional scanner tool so as to obtain the spatial coordinates of the surface of the object. The three-dimensional scanning has the important significance that the three-dimensional information of the real object can be converted into a digital signal which can be directly processed by a computer, and a quite convenient and fast means is provided for digitalizing the real object. The three-dimensional scanning technology can realize non-contact measurement and has the advantages of high speed and high precision. The output result of the three-dimensional scanning can be directly butted with various three-dimensional software, so that the three-dimensional model can be further conveniently designed and changed. In the manufacturing industry, three-dimensional scanners are increasingly used as a fast stereo measuring device due to the advantages of fast measuring speed, high precision, non-contact, convenient use and the like.
The three-dimensional scanner is divided into a contact type and a non-contact type, and the non-contact type can be divided into active scanning and passive scanning. A contact three-dimensional scanner calculates depth by actually touching the surface of an object, and a coordinate measuring machine is a typical contact three-dimensional scanner. This method is very accurate and is often used in the engineering industry, however, because it must contact the object during the scanning process, the object may be damaged. The non-contact active scanner projects light or wave onto an object to be scanned, and calculates three-dimensional space information by the light or wave reflected by the object, wherein the normal light or wave has common visible light, high-energy light beams, ultrasonic waves and X rays. The non-contact passive scanner does not emit any radiation, but measures the reflection of ambient radiation from the surface of the object to be scanned, to achieve the desired effect. Since the visible radiation in the environment is readily available and utilized, most scanners of this type are primarily detecting the visible light in the environment.
In the use process of the existing three-dimensional scanner, the scanner is fixed to rotate an object to be scanned to complete the scanning of the whole object, or the scanner is held by hands to rotate around the object to be scanned to complete the scanning of the whole object, and the scanner capable of moving autonomously does not complete the whole scanning process. In addition, the existing three-dimensional scanner cannot simultaneously perform three-dimensional scanning on objects to be scanned which are far, moderate and close in distance.
Therefore, a mobile flexible scanning robot system is urgently needed.
Disclosure of Invention
In order to solve the technical problems, the invention provides a mobile flexible scanning robot system which comprises a mobile platform module, a flexible mechanical arm module and a multi-mode scanner module, wherein the mobile platform module provides plane movement capability for the whole system, the mobile platform module can move freely in a plane, the flexible mechanical arm module is installed on the mobile platform module, the flexible mechanical arm module has multiple degrees of freedom of movement and provides three-dimensional space movement capability for a multi-mode scanner, and the multi-mode scanner module is installed at the tail end of the flexible mechanical arm and can acquire multiple modal information of a space.
Preferably, the mobile platform module has plane moving capability, including but not limited to a wheel type motion mode.
Preferably, the flexible manipulator module can provide three-dimensional space movement capability for the multi-modal scanner module at the end of the flexible manipulator module, and the number of the freedom of motion of the flexible manipulator module includes, but is not limited to, six.
Preferably, the multi-modality scanner module acquires a plurality of modality information of the space, including but not limited to picture, depth and point cloud modality information of the three-dimensional space.
Preferably, the mobile platform module comprises a power supply unit, a driving unit and an intelligent control unit, wherein the power supply unit is used for supplying power to the driving unit, and the driving unit can realize the movement of the mobile platform module; the intelligent control unit is used for controlling the driving unit and is connected with the intelligent control unit through a network port by a computer so as to realize the track control of the mobile platform.
Preferably, the flexible mechanical arm module comprises a flexible mechanical arm body unit and a controller unit, the flexible mechanical arm body unit is used for controlling the tail end of the flexible mechanical arm module to reach a certain point in a three-dimensional space, the controller unit can control power supply for the flexible mechanical arm body unit on one hand, and can control the position and the posture of the tail end of the flexible mechanical arm module on the other hand, and a computer is connected with the controller unit through a network port to control the tail end of the mechanical arm to reach a specified position and posture.
Preferably, the multi-modality scanner module comprises the following sensors: camera sensors, radar sensors, infrared sensors, structured light sensors.
Preferably, the type and number of sensors in the multi-modality scanner module are not limited.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, the mobile platform module is used for loading the flexible mechanical arm module and the multi-mode scanner module to perform plane space movement, and the flexible mechanical arm module is used for loading the multi-mode scanner module to perform three-dimensional space movement, so that the multi-mode scanner module can autonomously move, and the scanning mode is more flexible.
(2) The system uses the radar sensor to scan an object to be scanned at a far distance, uses the infrared sensor to scan an object to be scanned at a moderate distance, and uses the camera sensor to scan an object to be scanned at a close distance, so that the system can simultaneously give consideration to the three-dimensional scanning of the object to be scanned at a far distance, a moderate distance and a close distance.
Drawings
Fig. 1 is a schematic diagram of the structure and application scenario of the system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
example 1:
as shown in fig. 1, the invention provides a mobile flexible scanning robot system, which comprises a mobile platform module, a flexible mechanical arm module and a multi-mode scanner module, wherein the flexible mechanical arm module is installed on the mobile platform module, the multi-mode scanner module is installed on a flange at the tail end of the flexible mechanical arm module, the flexible mechanical arm module and the multi-mode scanner module are in rigid connection, namely when one of the two parts generates displacement or stress, the other part connected with the flexible mechanical arm module does not generate displacement or relative deformation relative to the first part, namely the two parts are connected into a whole, and the mobile flexible scanning robot system can perform real-time scanning and real-scene reconstruction based on autonomous motion planning on a complex scene or an ultra-large-scale object in which the mobile flexible scanning robot system works.
Specifically, the mobile platform module provides a planar movement capability for the whole system, and the mobile platform module can move freely in a plane, the planar movement capability of the mobile platform module includes, but is not limited to, a wheel type motion mode, the flexible robot arm module is mounted on the mobile platform module, and the flexible robot arm module has multiple degrees of freedom in motion, so as to provide a three-dimensional space movement capability for the multi-modal scanner, the flexible robot arm module can provide a three-dimensional space movement capability for the multi-modal scanner module at the end thereof, the number of degrees of freedom in motion of the flexible robot arm module includes, but is not limited to, six, the multi-modal scanner module is mounted at the end of the flexible robot arm, so as to acquire multiple modal information of the space, and the multi-modal scanner module acquires multiple modal information of the space including, but not limited to, pictures of the three-dimensional space, Depth, point cloud modality information.
Specifically, the mobile platform module comprises a power supply unit, a driving unit and an intelligent control unit, wherein the power supply unit is used for supplying power to the driving unit, and the driving unit can realize the movement of the mobile platform module; the intelligent control unit is used for controlling the driving unit and is connected with the intelligent control unit through a network port by a computer so as to realize the track control of the mobile platform.
Specifically, the flexible mechanical arm module comprises a flexible mechanical arm body unit and a controller unit, the flexible mechanical arm body unit is used for controlling the tail end of the flexible mechanical arm module to reach a certain point in a three-dimensional space, the controller unit can control power supply for the flexible mechanical arm body unit on one hand, and can control the position and the posture of the tail end of the flexible mechanical arm module on the other hand, and a computer is connected with the controller unit through a network port to control the tail end of the mechanical arm to reach a specified position and posture.
Specifically, the multi-modality scanner module includes the following sensors: camera sensor, radar sensor, infrared sensor, structured light sensor, the kind and the number of the sensor in the multimode scanner module do not do the restriction.
Specifically, a complex scene or a super-large-scale object is an object to be scanned of the mobile flexible scanning robot system, wherein the complex scene refers to a scene with a disordered and unconditional information environment in a space area to be scanned, such as a street and a factory, and the super-large-scale object refers to a relatively large object to be scanned, such as an unmanned aerial vehicle and an automobile.
Specifically, the autonomous motion planning means that a computer connected to an intelligent control unit in the mobile platform module through a network port can plan a motion trajectory according to an object to be scanned, and then control the motion trajectory of the mobile platform module.
Specifically, the real-time scanning and live-action reconstruction means that the mobile flexible scanning robot system can scan an object to be scanned, and a three-dimensional simulation model of the object to be scanned is reconstructed during scanning.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second", "third", "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby the features defined as "first", "second", "third", "fourth" may explicitly or implicitly include at least one such feature.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110580052.0A CN113352334A (en) | 2021-05-26 | 2021-05-26 | Mobile flexible scanning robot system |
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| CN202110580052.0A CN113352334A (en) | 2021-05-26 | 2021-05-26 | Mobile flexible scanning robot system |
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| CN113352334A true CN113352334A (en) | 2021-09-07 |
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Cited By (1)
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| CN114633256A (en) * | 2022-03-23 | 2022-06-17 | 南开大学 | Autonomous real-time live-action three-dimensional reconstruction and detection robot system |
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