CN113190019A - Virtual simulation-based inspection robot task point arrangement method and system - Google Patents
Virtual simulation-based inspection robot task point arrangement method and system Download PDFInfo
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Abstract
本发明涉及机器人技术领域，具体涉及一种基于虚拟仿真的巡检机器人任务点布置方法及系统，具体是在虚拟仿真场景中人工标注巡检部件，创建巡检候选点，调用自动算法优化并结合机器人云台的虚拟仿真得到最终的巡检任务点。系统包括仿真模块、判断模块以及执行模块。因此，本发明具有如下优点：1、该种机器人任务点布置方法用虚拟仿真的人机交互代替了现场人工，提高了实施效率和可靠性。2、该种机器人任务点布置方法，借助算法手段自动化得到最终的巡检任务点，并借助机器人云台的虚拟仿真可视化效果，自动化程度高。
The invention relates to the technical field of robotics, and in particular to a method and system for arranging task points of an inspection robot based on virtual simulation. The virtual simulation of the robot gimbal gets the final inspection task point. The system includes a simulation module, a judgment module and an execution module. Therefore, the present invention has the following advantages: 1. This method for arranging task points of a robot replaces on-site manual labor with virtual simulated human-computer interaction, thereby improving the implementation efficiency and reliability. 2. This robot task point arrangement method automatically obtains the final inspection task point with the help of algorithm means, and with the help of the virtual simulation visualization effect of the robot PTZ, the degree of automation is high.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a system for arranging task points of an inspection robot based on virtual simulation.
Background
The inspection robot system in the market at present mainly depends on a manual control robot site distribution mode to arrange task points. The robot and the holder are controlled through manual remote control, the position of a task point of a component to be observed is found, and the information of the task point and the holder is recorded in a navigation module on the robot. And then, the task points in the robot navigation module are exported to a robot inspection background, and the robot inspection background finishes the scheduling work of the robot inspection task. This manual solution is difficult to efficiently address the need, particularly when one location is required to view the mission points of multiple inspection components. The technical scheme has high labor cost and long input time, and once a problem occurs, the manual collection task point can be input again.
Disclosure of Invention
The technical problem of the invention is mainly solved by the following technical scheme:
a method for arranging task points of an inspection robot based on virtual simulation is characterized by comprising the following steps
Step 1, inputting data required by the inspection robot to a simulation module, and creating a plurality of groups of candidate points, wherein each group of candidate points corresponds to one inspection part;
step 2, for each group of candidate points, the simulation module obtains a substitute candidate point based on clustering calculation, and the substitute candidate point can substitute the whole group of candidate points to observe routing inspection parts corresponding to the whole group of candidate points;
step 3, judging whether the substitute candidate points corresponding to each group of candidate points acquired in the step 2 can be finally used as candidate points of the observation inspection part, if so, retaining the substitute candidate points, otherwise, deleting the substitute candidate points and retaining the whole group of candidate points corresponding to the deleted substitute candidate points until all groups of candidate points are judged completely;
and 4, inputting the substitute candidate points or the whole group of candidate points obtained after judgment in the step 3 into a background server of the inspection robot inspection system, and sending an inspection instruction to the inspection robot to start inspection.
In the inspection robot task point arrangement method based on virtual simulation, the acquisition of data required by the inspection robot comprises the following steps:
step 2.1, loading data of the inspection scene: the method comprises the steps of loading the color laser point cloud of the inspection area and loading the vector data of the inspection accessible area.
Step 2.2, importing the robot inspection standing book;
step 2.3, labeling the component: firstly, picking up point cloud and marking the position of an inspection part; and then associating the position of the marking inspection component with the standing book.
In the inspection robot task point arrangement method based on virtual simulation, the specific steps of creating a plurality of groups of candidate points include:
step 3.1, picking up the component;
step 3.2, dragging the direction virtual arrow of the observation part;
and 3.3, calculating the intersection of the direction vector and the passable area to obtain a candidate point strictly positioned on the passable area.
In the foregoing method for arranging task points of an inspection robot based on virtual simulation, step 3 specifically includes:
4.1, grouping the candidate points in the passable area according to each passable path;
4.2, clustering candidate points in a group according to constraint conditions such as the distance between the candidate points and the inspection target, the relative angle between the candidate points and the inspection target and the distance between every two candidate points;
4.3, calculating a final inspection point to replace a group of clustered candidate points, wherein the inspection point can observe components which can be observed by each original candidate point under the condition of meeting the constraint conditions of distance and angle;
4.4, performing robot holder simulation on the clustered inspection task points, and judging whether to keep the clustered result as the inspection task points or to use the original whole group of candidate points as the inspection task points by technicians according to the inspection target visual condition of the robot holder simulation;
and 4.5, combining the associated information of the components in the step 2.3, and summarizing the inspection task points into an inspection ledger.
In the inspection robot task point arrangement method based on virtual simulation, in step 4, the inspection task point information point ledger which is collected is output to the background service of the robot inspection system.
A system for arranging task points of an inspection robot based on virtual simulation is characterized by comprising:
a simulation module: creating a plurality of groups of candidate points according to data required by the inspection robot, wherein each group of candidate points corresponds to one inspection part; for each group of candidate points, a substitute candidate point is obtained based on clustering calculation, and the substitute candidate point can substitute the whole group of candidate points to observe routing inspection parts corresponding to the whole group of candidate points;
a judging module: judging whether the replacement candidate points corresponding to each group of candidate points acquired by the simulation module can be finally used as candidate points of the observation inspection part, if so, retaining the replacement candidate points, otherwise, deleting the replacement candidate points and retaining the whole group of candidate points corresponding to the deleted replacement candidate points until all groups of candidate points are judged completely;
an execution module: and inputting the substitute candidate points or the whole group of candidate points obtained by the judgment module into a background server of the inspection robot inspection system, and sending an inspection instruction to the inspection robot to start inspection.
Therefore, the invention has the following advantages: 1. the method for arranging the task points of the robot replaces field labor with virtual simulation human-computer interaction, and improves implementation efficiency and reliability. 2. According to the robot task point arrangement method, the final inspection task point is obtained automatically by means of an algorithm, and the virtual simulation visualization effect of the robot holder is utilized, so that the automation degree is high.
Drawings
FIG. 1 is a conventional routing inspection task point arrangement method
FIG. 2 is a routing inspection task point arrangement method based on virtual simulation
FIG. 3 is a method for inputting candidate task points and outputting inspection task point results by an automatic algorithm
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b):
the technical solutions in the embodiments of the present invention will be described below in a clear and complete manner with reference to the drawings in the examples of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. Other embodiments, which can be derived by one of ordinary skill in the art from the embodiments given herein without making any creative effort, shall fall within the scope of the present invention.
Referring to fig. 2 and 3, a method for arranging inspection task points of a robot based on virtual simulation is substantially a method for automatically deploying inspection task points of a robot on a virtual scene of virtual simulation software. Wherein the virtual scene is constructed based on the color laser point cloud and the passable area vector data. The technical personnel can complete the arrangement of the routing inspection task points on the basis of the following steps through man-machine interaction on the virtual simulation software: and the marking component is used for creating a candidate inspection task point and automatically simulating to generate an inspection point. Namely, the process of arranging the patrol task points of the patrol robot by combining the virtual simulation software is as follows:
1. and starting the virtual simulation module.
2. And loading data of the inspection scene.
The first step is as follows: loading a color laser point cloud of the inspection area;
the second step is that: and loading the patrol passable area vector data.
3. And leading in a robot inspection standing book.
4. The parts are labeled.
The first step is as follows: picking up point clouds and marking the positions of the inspection parts;
the second step is that: and associating with the standing book through a pop-up dialog box menu.
5. And creating candidate inspection task points.
The first step is as follows: a pickup part;
the second step is that: a directional virtual arrow for dragging the viewing member;
the third step: the intersection of the direction vector and the passable area is calculated to obtain candidate points strictly on the passable area.
6. And (5) automatically simulating a production inspection point.
The first step is as follows: grouping the candidate points in the passable area according to each passable path;
the second step is that: for candidate points in a group, clustering is carried out according to constraint conditions such as the distance between the candidate points and the inspection target, the relative angle between the candidate points and the inspection target and the distance between every two candidate points;
the third step: calculating a final inspection point to replace a group of candidate points of the cluster, wherein the inspection point can observe components which can be observed by each original candidate point under the condition of meeting the constraint conditions of distance and angle;
the fourth step: performing robot pan-tilt simulation on the clustered inspection task points, and judging whether to keep the clustered results as inspection task points or to use the original whole group of candidate points as inspection task points according to the conditions of inspection targets of the robot pan-tilt simulation of technicians;
the fifth step: and summarizing the inspection task points into an inspection ledger by combining the associated information of the components.
7. And outputting the inspection standing accounts, and outputting the inspection task point information point standing accounts which are collected to the background service of the robot inspection system.
The invention also relates to a system for arranging the task points of the inspection robot based on virtual simulation, which comprises the following components:
a simulation module: creating a plurality of groups of candidate points according to data required by the inspection robot, wherein each group of candidate points corresponds to one inspection part; for each group of candidate points, a substitute candidate point is obtained based on clustering calculation, and the substitute candidate point can substitute the whole group of candidate points to observe routing inspection parts corresponding to the whole group of candidate points;
a judging module: judging whether the replacement candidate points corresponding to each group of candidate points acquired by the simulation module can be finally used as candidate points of the observation inspection part, if so, retaining the replacement candidate points, otherwise, deleting the replacement candidate points and retaining the whole group of candidate points corresponding to the deleted replacement candidate points until all groups of candidate points are judged completely;
an execution module: and inputting the substitute candidate points or the whole group of candidate points obtained by the judgment module into a background server of the inspection robot inspection system, and sending an inspection instruction to the inspection robot to start inspection.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (6)
1. A method for arranging task points of an inspection robot based on virtual simulation is characterized by comprising the following steps
Step 1, inputting data required by the inspection robot to a simulation module, and creating a plurality of groups of candidate points, wherein each group of candidate points corresponds to one inspection part;
step 2, for each group of candidate points, the simulation module obtains a substitute candidate point based on clustering calculation, and the substitute candidate point can substitute the whole group of candidate points to observe routing inspection parts corresponding to the whole group of candidate points;
step 3, judging whether the substitute candidate points corresponding to each group of candidate points acquired in the step 2 can be finally used as candidate points of the observation inspection part, if so, retaining the substitute candidate points, otherwise, deleting the substitute candidate points and retaining the whole group of candidate points corresponding to the deleted substitute candidate points until all groups of candidate points are judged completely;
and 4, inputting the substitute candidate points or the whole group of candidate points obtained after judgment in the step 3 into a background server of the inspection robot inspection system, and sending an inspection instruction to the inspection robot to start inspection.
2. The inspection robot task point arrangement method based on virtual simulation is characterized in that the acquisition of data required by the inspection robot comprises the following steps:
step 2.1, loading data of the inspection scene: the method comprises the steps of loading color laser point clouds of a routing inspection area and loading vector data of a routing inspection accessible area;
step 2.2, importing the robot inspection standing book;
step 2.3, labeling the component: firstly, picking up point cloud and marking the position of an inspection part; and then associating the position of the marking inspection component with the standing book.
3. The inspection robot task point arrangement method based on virtual simulation according to claim 1, wherein the specific step of creating a plurality of sets of candidate points includes:
step 3.1, picking up the component;
step 3.2, dragging the direction virtual arrow of the observation part;
and 3.3, calculating the intersection of the direction vector and the passable area to obtain a candidate point strictly positioned on the passable area.
4. The inspection robot task point arrangement method based on virtual simulation according to claim 2, wherein the step 3 specifically includes:
4.1, grouping the candidate points in the passable area according to each passable path;
4.2, clustering candidate points in a group according to constraint conditions such as the distance between the candidate points and the inspection target, the relative angle between the candidate points and the inspection target and the distance between every two candidate points;
4.3, calculating a final inspection point to replace a group of clustered candidate points, wherein the inspection point can observe components which can be observed by each original candidate point under the condition of meeting the constraint conditions of distance and angle;
4.4, performing robot holder simulation on the clustered inspection task points, and judging whether to keep the clustered result as the inspection task points or to use the original whole group of candidate points as the inspection task points by technicians according to the inspection target visual condition of the robot holder simulation;
and 4.5, combining the associated information of the components in the step 2.3, and summarizing the inspection task points into an inspection ledger.
5. The inspection robot task point arrangement method based on virtual simulation is characterized in that in the step 4, the inspection task point information point ledger which is collected is output to a background service of the robot inspection system.
6. A system for arranging task points of an inspection robot based on virtual simulation is characterized by comprising:
a simulation module: creating a plurality of groups of candidate points according to data required by the inspection robot, wherein each group of candidate points corresponds to one inspection part; for each group of candidate points, a substitute candidate point is obtained based on clustering calculation, and the substitute candidate point can substitute the whole group of candidate points to observe routing inspection parts corresponding to the whole group of candidate points;
a judging module: judging whether the replacement candidate points corresponding to each group of candidate points acquired by the simulation module can be finally used as candidate points of the observation inspection part, if so, retaining the replacement candidate points, otherwise, deleting the replacement candidate points and retaining the whole group of candidate points corresponding to the deleted replacement candidate points until all groups of candidate points are judged completely;
an execution module: and inputting the substitute candidate points or the whole group of candidate points obtained by the judgment module into a background server of the inspection robot inspection system, and sending an inspection instruction to the inspection robot to start inspection.
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