A Robot Automatic Troubleshooting Method

Abstract

The invention discloses an automatic obstacle removal method for a robot. The robot includes an omnidirectional mobile chassis, a manipulator obstacle removal device including an end actuator and a six-degree-of-freedom mechanical arm, and an image acquisition device. A robot using an ARM processor is arranged in the body The control system; the method includes: 1. Turn on the control system and select the working mode, and use visual feedback to determine the initial position of the six-degree-of-freedom mechanical arm; 2. ARM performs preliminary processing on the image in step 1 to obtain the coordinates of the grabbing point, and transmits it in real time After the PC is processed, the judgment result is obtained; 3. The control system proceeds to the next step according to the judgment result; 4. The end-effector visual marker corner is detected, and the six-degree-of-freedom mechanical arm is controlled to approach and grab the target. The invention can choose autonomous or manual automatic troubleshooting. Robotic troubleshooting has a high degree of intelligence and diversified functions. It can be applied to both ground troubleshooting and underground detection, reducing labor intensity and improving work efficiency.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot automatic troubleshooting method. [0002] technical background [0003] With the development of science and technology, robots are developing into an increasingly large family, replacing humans in various jobs, and have broad application prospects in production and life, especially in dangerous and extreme environments. In particular, the use of robots for troubleshooting and robot rescue has not only liberated the labor force, improved work efficiency, and guaranteed life safety. [0004] For robot troubleshooting work, due to different needs and purposes, the functional complexity requirements for troubleshooting are also different. In some important occasions, in order to ensure accuracy and safety, real-time human participation is required for troubleshooting on some important occasions, and the requirements for the functions of the robot itself are not hi...

AI Technical Summary

Problems solved by technology

At present, most of the existing robotic troubleshooting functions are single, with insufficient intelligence and low flexibility.

[0005] The Chinese patent application with the application number CN201420569430.0 discloses a robotic arm troubleshooting and fire extinguishing robot. The robot has the ability of real-time monitoring, but does not have the ability of image processing and analysis, and cannot identify obstacles and cannot guarantee the control accuracy of the manipulator. Human participation in the whole process

The Chinese patent application with the application number CN201610131450.3 discloses an autonomous obstacle-removing smart car system. Although no manual participation is required, the laser ranging module used by the system can only obtain the distance of the obstacle in front of it, but cannot obtain the distance of the obstacle. The three-dimensional coordinates of the object affect the grasping accuracy of the robotic arm, and the obstacle removal target is also fixed as the obstacle directly in front. At the same time, the crawler structure adopted makes the steering range limited and the obstacle removal area is small

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