Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Single-master multi-slave cooperative positioning road left-behind object cleaning system and method
The invention provides a single-master and multi-slave cooperative positioning road left object cleaning system and method, and belongs to the technical field of intelligent expressway robots, and the method comprises the following steps: S1, starting master and slave robots; s2, a binocular camera of the main robot obtains road surface images along the way and judges whether lost objects exist or not, if yes, the step S3 is executed, and if not, the step S4 is executed; s3, picking up the left objects; s4, according to a GPS positioning module of the inspection robot, determining whether the inspection robot arrives at an inspection terminal point, if not, returning to the step S1, otherwise, stopping operation of all equipment, and ending inspection; the system matched with the method comprises a master robot and slave robots, the master robot is an inspection robot (1), and the slave robots comprise a picking robot (2) and at least two auxiliary positioning slave machines (3). According to the invention, the positioning precision and universality of the master-slave road left object cleaning system can be improved.
本发明提供一种单主多从协同定位的公路遗落物清理系统和方法，属于智能高速公路机器人技术领域，方法包括以下步骤：S1、启动主从机器人；S2、主机器人的双目摄像头获取沿途的路面图像并判断是否存在遗落物，如果存在则进入步骤S3，否则进入步骤S4；S3、捡拾遗落物；S4、根据巡检机器人的GPS定位模块确认是否抵达巡检终点，如果未抵达则返回步骤S1，否则停止所有设备运转，结束巡检；以及与该方法配套的系统，包括主机器人和从机器人，所述主机器人为巡检机器人（1），所述从机器人包括捡拾机器人（2）和至少两台辅助定位从机（3）；本发明能够提高主从公路遗落物清理系统定位的精度与泛用性。
Single-master multi-slave cooperative positioning road left-behind object cleaning system and method
The invention provides a single-master and multi-slave cooperative positioning road left object cleaning system and method, and belongs to the technical field of intelligent expressway robots, and the method comprises the following steps: S1, starting master and slave robots; s2, a binocular camera of the main robot obtains road surface images along the way and judges whether lost objects exist or not, if yes, the step S3 is executed, and if not, the step S4 is executed; s3, picking up the left objects; s4, according to a GPS positioning module of the inspection robot, determining whether the inspection robot arrives at an inspection terminal point, if not, returning to the step S1, otherwise, stopping operation of all equipment, and ending inspection; the system matched with the method comprises a master robot and slave robots, the master robot is an inspection robot (1), and the slave robots comprise a picking robot (2) and at least two auxiliary positioning slave machines (3). According to the invention, the positioning precision and universality of the master-slave road left object cleaning system can be improved.
本发明提供一种单主多从协同定位的公路遗落物清理系统和方法，属于智能高速公路机器人技术领域，方法包括以下步骤：S1、启动主从机器人；S2、主机器人的双目摄像头获取沿途的路面图像并判断是否存在遗落物，如果存在则进入步骤S3，否则进入步骤S4；S3、捡拾遗落物；S4、根据巡检机器人的GPS定位模块确认是否抵达巡检终点，如果未抵达则返回步骤S1，否则停止所有设备运转，结束巡检；以及与该方法配套的系统，包括主机器人和从机器人，所述主机器人为巡检机器人（1），所述从机器人包括捡拾机器人（2）和至少两台辅助定位从机（3）；本发明能够提高主从公路遗落物清理系统定位的精度与泛用性。
Single-master multi-slave cooperative positioning road left-behind object cleaning system and method
一种单主多从协同定位的公路遗落物清理系统和方法
ZHANG YING (Autor:in) / CHEN ZHUO (Autor:in) / QIAO GUIFANG (Autor:in) / LIU DI (Autor:in) / LIN JUNZE (Autor:in) / SHEN ZHONGLIN (Autor:in) / ZOU XU (Autor:in)
10.10.2023
Patent
Elektronische Ressource
Chinesisch
IPC:
G05D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
,
Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen
/
B25J
Manipulatoren
,
MANIPULATORS
/
E01H
STREET CLEANING
,
Reinigen von Straßen
/
G06T
Bilddatenverarbeitung oder Bilddatenerzeugung allgemein
,
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
Positioning system having a master-slave configuration
| Europäisches Patentamt | 2018
Master-slave type telescopic telemanipulator
Elsevier | 1986