Autonomous path planning method for live working robot based on point cloud

A technology of path planning and live work, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as obstacle collisions, and achieve the effects of reducing the amount of computation, high real-time performance, and improving efficiency

Active Publication Date: 2022-04-19
NANJING UNIV OF SCI & TECH
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an autonomous path planning method for a live working robot to solve the safety problems caused by the collision of the robotic arm with obstacles in the environment when working in a high-altitude unstructured environment

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Autonomous path planning method for live working robot based on point cloud
  • Autonomous path planning method for live working robot based on point cloud
  • Autonomous path planning method for live working robot based on point cloud

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0018] combine figure 1 , the present invention is based on a point cloud live working robot autonomous path planning method, comprising the following steps:

[0019] Step 1. Install and fix a depth camera at the end of the dual mechanical arms of the live working robot;

[0020] Step 2. Carry out hand-eye calibration and dual-arm base coordinate system calibration to share the field of view of the two depth cameras;

[0021] Step 3. Control the base joints of the dual robotic arms to rotate 360°, and the depth camera collects a frame of image every time θ° is rotated to obtain the environmental information in the current field of view;

[0022] Step 4. Splicing the images collected in step 3 to obtain the complete environmental information of the working space of the manipulator, that is, the position coordinate information of obstacles in the work space in the world coordinate system; where the world coordinate system is the position coordinate information of a certain mani...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a method for autonomous path planning of a live working robot based on point clouds, which comprises the following steps: installing a depth camera at the end of the dual mechanical arms; performing hand-eye calibration and calibration of the base coordinate system of the dual mechanical arms to realize two camera fields of view Sharing; control the base joints of the dual robotic arms to rotate 360°, and collect multiple frames of images; splice the collected images to obtain complete environmental information of the robotic arm's workspace; use the improved path planning algorithm to plan the robot arm in real time Collide with the optimal motion path, and add the path to the database at the same time. The present invention installs a depth camera at the end of the manipulator by means of an eye-on-hand installation, and combines the kinematics model of the manipulator to construct a three-dimensional point cloud image of the entire working environment, so that the system has the ability to perceive environmental obstacles; and then apply the improved The path planning algorithm ensures that the robot arm does not collide with obstacles and can plan the optimal movement path of the robot arm in real time.

Description

technical field [0001] The invention belongs to the field of autonomous operation of a live working robot, in particular to a point cloud-based autonomous path planning method for a live working robot. Background technique [0002] Compared with the factory environment where traditional robots are used, distribution line maintenance robots need to work in an unstructured environment. To realize that the robot can independently plan a collision-free operation path, the robot system must first have the ability to perceive the surrounding environment. However, the working environment of live work is mostly unstructured environment, and the working environment in different places is different, so the method of manually measuring and constructing a fixed working scene model is not feasible, so it is particularly important to use the depth camera to reconstruct the working scene in 3D. The depth camera scans the real three-dimensional scene or object, and constructs the robot's wo...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/02
CPCB25J9/1666B25J9/1697B25J19/023
Inventor 郭毓肖潇吴巍杨光张冕蔡梁
Owner NANJING UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap