Remote-control target maintenance technology based on vision-and-force sensing system

Abstract

The invention relates to a remote-control maintenance technology, in particular to a remote-control target maintenance technology based on a vision-and-force sensing system. Work environment is set as a close space; and a visual monitoring system, a force monitoring system, an operation system and a master-slave manipulator are prepared. The master-slave manipulator comprises a driven arm mounted inside the close space and a driving arm mounted outside the close space. The driving arm is operated to drive the driven arm to perform actions same as those of the driving arm. The force monitoring system comprises two force sensors. The operation system comprises a single chip, a displaying screen and an operation panel. Since the high-definition cameras with coordinate signals are arranged on both a target and the driven arm, displacements of the target and the driven arm can be monitored in real time. By the aid of force sensors both arranged on the target and the driven arm, control of strength of an input end and an output end of maintenance service is facilitated, and maintenance service can be accurately operated through processing and displaying of the operation system.

Description

technical field [0001] The invention relates to a remote control maintenance process, in particular to a target body remote control maintenance process based on a visual and force sense system. Background technique [0002] In research and development work, many times the researched objects are radioactive, so the work needs to be carried out in a confined space. At the same time, in order to avoid the damage caused by radiation, try to replace human work by controlling robots during the work process. However, the confined space brings great inconvenience to the monitoring and operation of the staff, and when monitoring the condition of the target, it is usually necessary to analyze and monitor whether the target is working normally from various parameters, such as the temperature, displacement, pressure, etc. of the target. At the same time, since the target body is maintained by remote control, it is difficult to monitor whether the output force is normal, whether it will ...

AI Technical Summary

Problems solved by technology

[0002] In research and development work, many times the researched objects are radioactive, so the work needs to be carried out in a confined space. At the same time, in order to avoid the damage caused by radiation, try to replace human work by controlling robots during the work process. However, the confined space brings great inconvenience to the monitoring and operation of the staff, and when monitoring the condition of the target, it is usually necessary to analyze and monitor whether the target is working normally from various parameters, such as the temperature, displacement, pressure, etc. of the target. At the same time, due to the remote maintenance of the target body, it is difficult to monitor whether the output force is normal when it is maintained, whether it will damage the target body itself or cannot perform normal maintenance, etc.