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Target capturing system and method of explosive ordnance disposal robot

A technology for EOD robots and robots, applied in manipulators, program-controlled manipulators, and manufacturing tools, etc., and can solve problems such as complex algorithms, high operator requirements, and difficulty in accurate identification.

Inactive Publication Date: 2014-01-22
ORDNANCE TECH RES INST OF THE GENERAL ARMAMENT DEPT PLA
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the need for camera calibration, target image segmentation processing, capture point analysis and other processing, the algorithm is complex and the accuracy is not ideal, especially it is difficult to extract the target object in a complex background and accurately identify it, and the requirements for operators are also high.

Method used

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  • Target capturing system and method of explosive ordnance disposal robot
  • Target capturing system and method of explosive ordnance disposal robot
  • Target capturing system and method of explosive ordnance disposal robot

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Embodiment

[0098] In this embodiment, FY-SP2515 outdoor digital pan / tilt (positioning accuracy is ±0.1°), DLS-C30 laser ranging sensor, two Hitachi VK-S888N integrated cameras, and wireless digital audio and video transmission system are used. and other equipment to build a pose acquisition mechanism, the system block diagram is as follows Figure 4 shown. Under the guidance of binocular vision, the remote operation three-dimensional space point position measurement, the cylinder-like pose acquisition, and guide the manipulator to autonomously grasp. Combining binocular vision technology with this pose acquisition mechanism can also realize the organic combination of binocular vision distance measurement and virtual link pose measurement. In the embodiment using the principle of this mechanism, within the reachable range of 0.2 to 2 meters by the manipulator, the comprehensive error of the target position is less than 2 millimeters, and the error of the space attitude angle is less than...

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PUM

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Abstract

The invention provides a target capturing system and method of an explosive ordnance disposal robot. The system comprises a gesture acquiring mechanism, an information processing unit, a manipulator and a robot body. The gesture acquiring mechanism is used for measuring a length value of a laser beam irradiating to a target article from a laser distance sensor, acquiring an rotary angel and pitch angle of the laser beam through rotary and pitch motions of a holder, and further acquiring three-dimensional coordinates of laser spots of the laser beam on the target article by establishing a robot kinematic equation. The information processing unit is used for calculating the gesture of the manipulator corresponding to the target article according to coordinate information of the target on a gesture acquiring mechanism base and corresponding position relations between the gesture acquiring mechanism and the manipulator. The manipulator is used for capturing the target based on gesture information of the target corresponding to the manipulator. The robot body is used for fixing the manipulator and the gesture acquiring mechanism. The laser distance sensor is fixed on the holder and can rotate and pitch with the holder synchronically.

Description

technical field [0001] The present invention relates to automatic control, wireless transmission, remote operation, laser distance measurement, space coordinate transformation and robot kinematics technology, especially relates to a measuring mechanism capable of realizing the acquisition of cylinder-like target pose, which is fixed on the body of the explosive-disposal robot , constitutes a definite positional relationship with the manipulator of the EOD robot, so that the position and posture of the target object relative to the manipulator is calculated through coordinate transformation, and the manipulator is guided to realize autonomous grasping. Background technique [0002] With the increasingly severe international anti-terrorism situation and the deepening of the anti-terrorism struggle, the handling and handling of dangerous ammunition has become a topic of common concern to all countries and armies in the world. Due to the unknown safety status and quality status ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/1664B25J13/086
Inventor 罗磊陈恳马振书穆希辉方兴桥杜峰坡李良春姜志保
Owner ORDNANCE TECH RES INST OF THE GENERAL ARMAMENT DEPT PLA
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