Hand-eye coordination type positioning device and method for forcible entry robot

A robot hand and positioning device technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the positioning of demolition robots, and achieve the effect of solving the problem of inaccurate operation points and slow movements

Inactive Publication Date: 2016-01-06
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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Problems solved by technology

[0004] The purpose of the present invention is to provide a hand-eye coordination positioning device and method for a demolition robot, which solves the problem of positioning the target of the demolition robot

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  • Hand-eye coordination type positioning device and method for forcible entry robot
  • Hand-eye coordination type positioning device and method for forcible entry robot
  • Hand-eye coordination type positioning device and method for forcible entry robot

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Embodiment Construction

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0030] see Figure 1~2 , in an embodiment of the present invention, a hand-eye coordination positioning device for a demolition robot is composed of a multi-joint hydraulically driven mechanical arm 1, a laser ranging sensor 2, a CAN bus controller 3, and a vehicle-mounted computer 4; the laser ranging sensor 2 is installed on On the end effector of the multi-joint hydraulically driven mechanical arm 1, the laser emission method is consistent with the direction of a certain c...

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Abstract

The invention discloses a hand-eye coordination type positioning device and method for a forcible entry robot. The hand-eye coordination type positioning device for the forcible entry robot is composed of a multi-joint hydraulic-drive mechanical arm, a laser distance measuring sensor, a controller area network (CAN) bus controller and a vehicle-mounted computer. The laser distance measuring sensor is installed on a tail executor of the multi-joint hydraulic-drive mechanical arm. Information interaction between the laser distance measuring sensor and the vehicle-mounted computer is achieved through the CAN bus controller. The hand-eye coordination type positioning method for the forcible entry robot comprises the steps that (1) the laser distance measuring sensor sends collected distance information to the vehicle-mounted computer through a CAN bus; and (2) the vehicle-mounted computer processes the received distance information and then sends a speed driving signal of a hydraulic element through the CAN bus to drive the multi-joint hydraulic-drive mechanical arm to move to a specified target position, and thus automatic positioning and control over the movement of the mechanical arm are completed. By the adoption of the hand-eye coordination type positioning device and method for the forcible entry robot, the target precision and the working efficiency of forcible entry work of the forcible entry robot are effectively improved.

Description

technical field [0001] The invention relates to robot positioning technology, in particular to a hand-eye coordination positioning device and method for a demolition robot. Background technique [0002] In the face of disasters such as earthquakes and mudslides, emergency rescue is needed to minimize the loss of personnel and property. Therefore, it is extremely important to improve the emergency rescue capabilities after the earthquake. The safety emergency rescue equipment used at the disaster site is also the "Twelfth Five-Year Plan" period. China Machinery One of the key points of industrial development. [0003] Japan's Toshiba, Mitsubishi, etc. have successively developed robots for dangerous site handling operations. For example, the Smart-M robot developed by Toshiba can carry heavy objects of about 5kg. The Swan robot developed by Mitsubishi has terrain adaptability and can carry Medium load around 10kg. However, these demolition robots generally use remote contro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/06B25J9/16
CPCB25J5/06B25J9/1694
Inventor 赵江海何锋章小建李岩峰方健朱洪波
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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