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Patrolling robot mechanical arm tail end space positioning method

An inspection robot and spatial positioning technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high cost of distance sensors and low positioning accuracy, so as to avoid low accuracy, reduce positioning costs, and improve spatial positioning accuracy. Effect

Inactive Publication Date: 2018-11-30
YUNNAN POWER GRID CO LTD KUNMING POWER SUPPLY BUREAU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The object of the present invention is: the present invention provides a spatial positioning method for the end of the manipulator of the inspection robot, which solves the problem of low positioning accuracy of the existing 2D vision for the space positioning of the end of the existing manipulator and the high cost of using 2D vision combined with a distance sensor

Method used

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  • Patrolling robot mechanical arm tail end space positioning method
  • Patrolling robot mechanical arm tail end space positioning method
  • Patrolling robot mechanical arm tail end space positioning method

Examples

Experimental program
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Effect test

Embodiment 1

[0045] The inspection robot needs to open the switchgear 11. The inspection robot uses laser radar to navigate to the vicinity of the operated equipment. Due to the navigation accuracy and motion control accuracy, there is a deviation between the actual position and the preset position. First, adjust the most terminal joint of the mechanical arm, keep the rotation vector along the Y axis of the end, that is, Ry=0°, and the rotation vector along the X axis, that is, Rx=90°, so that the visual sensor is parallel to the ground, that is, parallel to the XOY plane; if the above The coordinate system is not Figure 4As shown, it is necessary to make corresponding adjustments according to the setting of the coordinates so that it is adjusted parallel to the ground; then, the visual sensor recognizes the ground features 10 entered into the system in advance; Perform translation. During the movement, the height of the end of the robotic arm is a constant value, and the attitude angle i...

Embodiment 2

[0047] Based on Example 1, if the operation surface is on the right side of the robot, the pitch angle is selected to be 270 degrees, and the terminal visual sensor is rotated 270 degrees clockwise to be parallel to the operation surface; or the pitch angle is selected to be 90 degrees, and the terminal visual sensor is rotated 90 degrees counterclockwise. parallel operating surfaces. Select different angles for positioning according to the position of the operation surface and the robot arm, avoiding errors caused by position differences, and further improving the spatial positioning accuracy of the end of the robot arm.

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Abstract

The invention discloses a patrolling robot mechanical arm tail end space positioning method, and belongs to the field of the patrolling robot mechanical arm tail end space positioning method. The method comprises the steps that firstly, the tail end of a mechanical arm is parallel to the ground through adjustment of coordinates; secondly, a vision sensor is used for obtaining the ground feature recognition result, the mechanical arm is parallel to the ground to move to the tail end preset point according to the ground feature recognition result, and first-time 2D vision positioning is finished; thirdly, preset point coordinates are kept unchangeable, the needed pitching angle is rotated, and the vision sensor is made to be parallel to the operation face; and fourthly, the vision sensor isused for obtaining the operation face feature recognition result, the tail end of the mechanical arm is adjusted according to the operation face feature recognition result and is made to arrive at theoperation face preset point, and second-time 2D vision positioning is finished. On the basis of the plane, two-time 2D vision positioning and adjustment are conducted, and the defects that due to adoption of one-time 2D vision positioning, precision is low, and cost is high due to adoption of combination of 2D vision and a distance sensor are overcome; and the positioning cost is reduced, and accurate space positioning is achieved.

Description

technical field [0001] The invention belongs to the field of positioning methods for the end of the manipulator of the inspection robot, in particular to a method for spatially locating the end of the manipulator of the inspection robot. Background technique [0002] In recent years, with the development of the robot industry, security inspection robots have emerged in various fields such as large factories, workshops, and substations. The emergence of inspection robot systems has saved a lot of manpower, material and financial resources, especially for inspections in high-risk places. , the inspection robot becomes the best solution. At present, the inspection robot system has been able to identify various instruments, fire warning and other tasks. In addition, after the inspection robot is equipped with a mechanical arm, it can perform various operations on the site. [0003] At present, the positioning accuracy of most inspection robots based on lidar SLAM navigation is...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 马力赵灿辉王致李骞徐肖庆
Owner YUNNAN POWER GRID CO LTD KUNMING POWER SUPPLY BUREAU
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