An autonomous, perception-enabled workcell manipulator, system, and method suitable for use in a narrow space

Abstract

This invention discloses an autonomous sensing robotic arm suitable for confined spaces. A lateral translation slide rail is mounted on the upper end of a compact equipment mounting base, allowing for reciprocating movement along the length of the base. A second-stage rotation unit is mounted on the first telescopic arm, enabling second-stage horizontal rotation adjustment of the second telescopic arm and cooperating with the first-stage rotation unit to achieve horizontal positioning. A binocular stereo vision sensor, mounted on the second telescopic arm, performs real-time 3D ranging, identifies unexpected obstacles within the work area, and generates a 3D point cloud of the local environment, providing environmental perception data for obstacle avoidance and path planning. This invention improves operational flexibility, ensures operational continuity, significantly increases overall operational efficiency, enhances operational reliability, and significantly reduces the requirements for operator skills and experience.

Description

Technical Field

[0001] This invention relates to a robotic arm, and more particularly to an autonomous sensing robotic arm, system, and method suitable for use in confined spaces. Background Technology

[0002] Intelligent robots, special environment operations, and machine vision technology are mainly used for autonomous scanning operations in narrow, high-altitude, and enclosed spaces such as bridge towers, wind turbine towers, and large pipelines. However, the internal inspection and maintenance of large infrastructure (such as cable-stayed bridge towers, suspension bridge anchorages, and wind turbine towers) is limited by factors such as narrow and high working spaces, insufficient lighting, and complex structures. Traditional operating methods have the following drawbacks: 1. Traditional inspection and maintenance work in narrow spaces mainly relies on the construction of scaffolding or the use of large lifting platforms. This method is not only cumbersome in terms of construction and operation, but also has extremely low work efficiency. It also requires a lot of manpower and material resources. Furthermore, in narrow, high-altitude, and enclosed spaces, the transportation and deployment of large equipment is difficult, and the flexibility of operation is extremely poor.

[0003] 2. Existing equipment struggles to balance accessibility to narrow spaces with actual operational capabilities: While small equipment (such as drones) can enter narrow spaces, they suffer from low load capacity, poor operational stability, and low detection accuracy, making them unable to perform sophisticated tasks. On the other hand, robotic arms with certain operational capabilities and the ability to meet detection accuracy requirements are often bulky and have fixed structures, making it difficult to pass through narrow entrances. Even if they do enter a space, they cannot effectively deploy their movements, severely limiting their operational range.

[0004] 3. In confined spaces such as bridge towers and tower sections, longitudinally fixed structures such as standard sections of construction hoists are often pre-installed. Traditional robotic arms lack specific obstacle avoidance designs, and their working range is easily obstructed by these fixed obstacles, creating large blind spots. To avoid these blind spots, the support platform needs to be frequently moved to adjust the working position. However, in space-constrained environments, moving the support platform is difficult and unsafe, directly leading to work interruptions and a significant decrease in continuity and overall efficiency.

[0005] 4. The actual working environment in narrow spaces is full of unknowns, and unexpected obstacles such as wall protrusions and construction residues are likely to appear. Existing robotic arms mostly adopt pre-programmed or manual remote control operation modes, lacking real-time environmental perception and online obstacle avoidance capabilities. They cannot identify sudden unknown obstacles in time, and the risk of equipment collision during operation is high. This not only easily causes damage to the robotic arm itself or infrastructure, but also affects the accuracy of operation data, making it difficult to guarantee the reliability of operation.

[0006] 5. Existing solutions for working in confined spaces heavily rely on skilled professional operators. The motion control and operation of the robotic arm must be completed through manual remote operation or complex teaching programming. This not only results in low work efficiency but also places extremely high demands on the professional skills and operational experience of the operators, increasing the labor costs and operational barriers to the operation. It also makes it difficult to achieve standardized and large-scale operation promotion.

[0007] Therefore, those skilled in the art are dedicated to providing an autonomous sensing robotic arm, system, and method suitable for confined spaces that can effectively solve the above-mentioned technical problems. Summary of the Invention

[0008] To achieve the above objectives, the present invention provides an autonomous sensing robotic arm suitable for use in confined spaces, including a compact equipment mounting base; A transverse sliding rail is provided on the upper end of the compact equipment mounting base and can move back and forth along the length of the compact equipment mounting base; A lateral drive mechanism is disposed at the lower end of the lateral translation slide rail base for driving the lateral translation slide rail base to move on the compact equipment mounting base; The first-stage rotation unit is set on the transverse translation slide rail seat to realize the first-stage rotation adjustment of the first telescopic arm in the horizontal direction, providing rotational freedom for large-range positioning; The first telescopic arm has its lower front half connected to the first-stage rotating unit, which is used to realize the linear extension and retraction of the robotic arm in the horizontal direction and expand the working radius. The second-stage rotating unit is mounted on the first telescopic arm and is used to realize the second-stage rotational adjustment of the second telescopic arm in the horizontal direction, and cooperate with the first-stage rotating unit to complete the positioning in the horizontal plane. The second telescopic arm, mounted on the second-stage rotating unit, is used to achieve linear extension and retraction of the robotic arm in the horizontal direction, thereby expanding the working radius. A binocular stereo vision sensor is installed on the second telescopic arm to perform real-time three-dimensional ranging, identify unexpected obstacles in the work area, and generate a three-dimensional point cloud of the local environment, providing environmental perception data for the robotic arm to avoid obstacles and plan its path.

[0009] Furthermore, the transverse sliding slide rail base has a rectangular frame structure. The upper end of the transverse sliding slide rail base is provided with two parallel guide rails, and the lower end of the transverse sliding slide rail base is provided with several guide rail seats, each of which slides on the respective guide rail. Two connecting edges are provided on both sides of the transverse sliding slide rail base, and each connecting edge is used for detachable connection with the compact equipment mounting base.

[0010] Furthermore, the lateral drive mechanism includes a first servo motor mounted on the compact equipment mounting base. The output end of the first servo motor is connected to one end of a first lead screw, and the other end of the first lead screw is rotatably connected to the lateral translation slide rail seat. The lower end of the lateral translation slide rail seat is provided with a first lead screw connecting seat, which is sleeved on the first lead screw.

[0011] Furthermore, the first-stage rotating unit includes a second servo motor disposed at the lower end of the transverse translation slide rail base, and a first hollow rotary table disposed at the upper end of the transverse translation slide rail base. The first telescopic arm is rotatably connected to the transverse translation slide rail base through the first hollow rotary table, and the second servo motor is used to drive the first hollow rotary table to rotate.

[0012] Furthermore, the first telescopic arm includes a first outer shell and a first inner shell; The lower end of the front half of the first section of the outer shell is connected to the first hollow rotating platform and rotates through the first hollow rotating platform. The first section of the outer shell has several first windows. The inner side wall of the first section of the outer shell is provided with two first slide rails. The inner shell of the first section is located inside the first section of the outer shell. The outer side wall of the inner shell of the first section is provided with a first slide block. The first slide block slides on the first slide rail. The first section of the outer shell has a first motor mounting plate at its front end. A third servo motor is located on the inner side of the first motor mounting plate, and a first driving wheel and a first driven wheel are located on the outer side. The first driving wheel and the first driven wheel are connected by a first transmission belt. The output end of the third servo motor is connected to the first driving wheel. The second-stage rotating unit is located outside the first section of the outer shell and is located in the rear half of the inner shell of the first section.

[0013] Furthermore, the second-stage rotating unit includes a second hollow rotating platform disposed in the rear half of the first inner shell section, a fourth servo motor for controlling the rotation of the second hollow rotating platform is disposed inside the first inner shell section, and the upper end of the second hollow rotating platform is connected to the second telescopic arm.

[0014] Furthermore, the second telescopic arm includes a second outer shell and a second inner shell; The lower end of the rear half of the second shell is connected to the second hollow rotating platform and rotates through the second hollow rotating platform. The second shell has several second windows. The inner wall of the second shell is provided with two second slide rails. The inner shell of the second shell is located inside the second shell. The outer wall of the inner shell of the second shell is provided with a second slide block. The second slide block slides on the second slide rail. The rear end of the second housing is provided with a second motor mounting plate. A fifth servo motor is provided on the inner side of the second motor mounting plate, and a second driving wheel and a second driven wheel are provided on the outer side. The second driving wheel and the second driven wheel are connected by a second transmission belt. The output end of the fifth servo motor is connected to the second driving wheel.

[0015] Furthermore, it also includes: a sixth servo motor, located outside the second outer shell and disposed at the lower end of the front half of the second inner shell, for providing power drive for the rotational motion of the third hollow rotary table; The third hollow rotary table is set at the output end of the sixth servo motor and is used to adjust the horizontal orientation of the end operation plane to achieve the adjustment of the working angle. The seventh servo motor is mounted on the third hollow rotating platform and connected to the rotating joint of the first harmonic reducer. It is used to provide power drive for the first stage of vertical rotation of the end active lifting mechanism. The first harmonic reducer rotary joint is connected to the third hollow rotary table and serves as the first-stage rotary joint of the end active lifting mechanism to realize the lifting motion of the end. Backlash-free transmission ensures motion accuracy. The eighth servo motor is located at the second rotary joint of the end active lifting mechanism and is connected to the rotary joint of the second harmonic reducer. It is used to provide power drive for the second stage vertical rotational motion of the end active lifting mechanism. The second harmonic reducer rotary joint is located at the end of the first harmonic reducer rotary joint away from the third hollow rotary table. It is connected to the first harmonic reducer rotary joint, the eighth servo motor, and the ninth servo motor. As the second-stage rotary joint of the end active lifting mechanism, it is used to realize the telescopic movement of the end and cooperate with the first-stage joint to complete the spatial position adjustment. The ninth servo motor is located at the third rotary joint of the end active lifting mechanism and is connected to the rotary joint of the third harmonic reducer. It is used to provide power drive for the third stage vertical rotation of the end active lifting mechanism. The third harmonic reducer rotary joint is located at the end of the second harmonic reducer rotary joint away from the first harmonic reducer rotary joint. It is connected to the second harmonic reducer rotary joint, the ninth servo motor, and the binocular stereo vision sensor. As the third-stage rotary joint of the end-effector active lifting mechanism, it is used to realize the pitch movement of the end-effector and adjust the working posture to adapt to different working surfaces.

[0016] A control system for an autonomous sensing robotic arm suitable for use in confined spaces, the system comprising: The visual perception data acquisition module is used to receive real-time image data of the working environment collected by the binocular stereo vision sensor, perform stereo matching and three-dimensional analysis on the image data, generate three-dimensional point cloud data of the working area and distance data of the target working surface, and send the above data in real time after standardization and encapsulation. The environmental scene modeling module is used to receive encapsulated data from the visual perception data acquisition module, construct and dynamically update a 3D planning scene model of the working environment, and perform feature marking and position calibration on fixed obstacles and unexpected dynamic obstacles in the model. The motion trajectory planning module is used to load the URDF kinematic model of the robotic arm body, combine obstacle information in the 3D planning scene model and the robotic arm's own motion constraints, calculate the optimal motion trajectory without collision online, and also support dynamic replanning of the trajectory triggered by the updated scene model. The joint drive control module is used to convert the trajectory data generated by the motion trajectory planning module into drive instructions for the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the fifth servo motor, the sixth servo motor, the seventh servo motor, the eighth servo motor, and the ninth servo motor. It sends instructions to each servo motor according to a preset timing sequence and receives status feedback data of each joint of the robotic arm in real time. The task scheduling module receives advanced task instructions from external sources, breaks down the task into a sequence of sub-tasks that the robotic arm can execute, sends the sub-task planning requirements to the motion trajectory planning module in sequence, and monitors the execution status of the sub-tasks to achieve full-process scheduling of the task.

[0017] An autonomous operation method for an autonomous sensing robotic arm suitable for use in confined spaces, the method comprising the following steps: S1: The control system is initialized, and the communication connection and parameter configuration of the visual perception data acquisition module, environmental scene modeling module, motion trajectory planning module and joint drive control module are completed. The control robot body is in the initial state of retraction and folding, the compact equipment mounting base is fixed to the bearing platform, and the lateral translation slide rail is returned to the initial position. S2: The visual perception data acquisition module activates the binocular stereo vision sensor to acquire initial image data of the working environment and parse it into three-dimensional point cloud data and distance data, and sends the data to the environment scene modeling module; S3: The environment scene modeling module constructs a 3D planning scene model of the working environment based on the initial perception data, marks the features and positions of fixed obstacles in the scene, and synchronizes the completed 3D planning scene model to the motion trajectory planning module. S4: The task scheduling module receives advanced task instructions for narrow space scanning from external sources, breaks them down into sub-task sequences of lateral translation, arm extension and retraction, joint rotation, and working surface scanning, and sends the planning requirements for the first lateral translation sub-task to the motion trajectory planning module. S5: The motion trajectory planning module plans collision-free motion trajectories online based on the 3D planning scene model and the robotic arm URDF model. For the lateral translation sub-task, it generates the drive trajectory data of the first servo motor; for the arm extension sub-task, it generates the drive trajectory data of the third and fifth servo motors; and for the joint rotation sub-task, it generates the drive trajectory data of the second, fourth, sixth, seventh, eighth, and ninth servo motors. All trajectory data is then sent to the joint drive control module. S6: The joint drive control module converts the trajectory data into pulse drive commands for the corresponding servo motors. According to the preset timing sequence, it sends commands to the first servo motor to drive the lateral translation slide rail to translate, sends commands to the second and fourth servo motors to drive the first and second hollow rotary tables to rotate, sends commands to the third and fifth servo motors to drive the first and second telescopic arms to extend and retract, sends commands to the sixth servo motor to drive the third hollow rotary table to rotate, and sends commands to the seventh, eighth, and ninth servo motors to drive the first, second, and third harmonic reducer rotary joints to complete the end-effector posture adjustment, controls the robotic arm body to execute trajectory actions, and simultaneously collects the status feedback data of each joint in real time and transmits it back to the motion trajectory planning module. S7: During the execution of the trajectory action by the robotic arm, the binocular stereo vision sensor continuously collects real-time image data of the environment. The visual perception data acquisition module synchronously parses and sends it to the environmental scene modeling module. If an unexpected obstacle is detected in the work area, the environmental scene modeling module immediately updates the 3D planning scene model and sends a replanning trigger signal to the motion trajectory planning module. The motion trajectory planning module replans the collision-free local trajectory online based on the updated model and re-executes steps S5-S6. S8: The task scheduling module monitors the execution status of subtasks through feedback data from each module. After the first lateral translation subtask is completed, the subsequent subtask planning requirements for arm extension, joint rotation, and working surface scanning are issued in sequence. Steps S5-S7 are repeated until the full area scan of the working surface on both sides of the obstacle is completed. After all subtasks are completed, the advanced task of scanning the entire narrow space is completed.

[0018] The present invention has the following beneficial effects: 1. This invention adopts a compact equipment mounting base with a retractable and foldable two-stage telescopic arm structure. The overall size of the robotic arm is small in the initial state, eliminating the need for scaffolding or large lifting platforms. It can be directly fixed to the support platform and deployed in narrow spaces, greatly simplifying the deployment and operation process and improving work efficiency. At the same time, it reduces the input costs of manpower and materials, and the miniaturized equipment structure reduces the difficulty of transportation and deployment in narrow, high-altitude, and confined spaces, improving the flexibility of operation.

[0019] 2. The robotic arm of this invention combines accessibility to narrow spaces with high-efficiency operation. Its retractable and foldable structural design allows it to easily enter the work space through narrow entrances. When unfolded, the linear extension and retraction of the double-stage telescopic arm can effectively expand the working radius. Combined with the multi-degree-of-freedom motion of the multi-stage rotating unit and the end-effector harmonic reducer rotary joint, it can achieve precise operation. The real-time perception capability of the binocular stereo vision sensor ensures detection accuracy and solves the problems of small equipment having small load, poor stability, and low accuracy, as well as the inability of traditional large-volume robotic arms to enter and the limitations of their unfolding.

[0020] 3. The present invention is equipped with a transverse sliding rail seat that can move back and forth along the length of the mounting base, combined with the horizontal positioning capability of the dual-stage rotating unit, which allows the robotic arm to flexibly bypass the longitudinal fixed structure in narrow spaces, adjust the working position without frequently moving the carrier platform, and eliminate the detection blind spot; at the same time, it avoids the operational difficulty and safety risks of moving the carrier platform in a space-constrained environment, ensures the continuity of operation, and greatly improves the overall operation efficiency.

[0021] 4. This invention is equipped with a binocular stereo vision sensor at the end of the telescopic arm, which can perform three-dimensional ranging in real time, identify unexpected obstacles and generate three-dimensional point clouds. Combined with the environmental scene modeling and dynamic trajectory replanning capabilities of the control system, the robotic arm can perceive unknown changes in the working environment in real time, realize online obstacle avoidance and dynamic trajectory adjustment, effectively reduce the risk of equipment collision, avoid damage to the robotic arm body and infrastructure, and at the same time ensure the accuracy of the work data and improve the reliability of the work process.

[0022] 5. The control system of the present invention has the ability to automatically schedule tasks. It can decompose external high-level tasks into executable sub-task sequences and combine visual perception, trajectory planning and joint drive for full-process automated control to realize the autonomous operation of the robotic arm without the need for manual remote operation or complex teaching programming; it greatly reduces the requirements for the professional skills and operating experience of operators. Attached Figure Description

[0023] Figure 1 This is a structural schematic diagram of a specific embodiment of the present invention.

[0024] Figure 2 This is a bottom-view three-dimensional structural diagram of the present invention.

[0025] Figure 3 This is a schematic diagram of the transverse translation slide rail base in this invention.

[0026] Figure 4 This is a schematic diagram of the structure of components such as the second telescopic arm in this invention.

[0027] Figure 5 yes Figure 4 A schematic diagram of a structure without a second outer shell.

[0028] Figure 6 This is a schematic diagram of the structure of the second inner shell in this invention.

[0029] Figure 7 This is a schematic diagram of the structure of the first telescopic arm and other components in this invention.

[0030] Figure 8 yes Figure 7 The diagram shows a structure without a first outer shell section.

[0031] Figure 9 This is a schematic diagram of the structure of the first inner shell in this invention.

[0032] Figure 10 This is a schematic diagram of the robotic arm of the present invention fully deployed inside the bridge tower.

[0033] Figure 11 This is an isometric view of the main structure of the robotic arm of the present invention (showing each component and joint).

[0034] Figure 12 This is a top-down view of the working principle diagram where the robotic arm uses a horizontal translation slide rail to bypass the standard section of the construction hoist and scan the left and right walls.

[0035] Figure 13 This is a block diagram of the hardware and software architecture of the system of this invention.

[0036] Figure 14 This is a schematic diagram of MoveIt2's online dynamic obstacle avoidance trajectory planning based on binocular vision.

[0037] The attached diagram lists the components represented by each number as follows: 1. Compact equipment mounting base; 2. Lateral sliding slide rail base; 3. First servo motor; 4. First hollow rotary table; 5. Second servo motor; 6. First telescopic arm; 7. Third servo motor; 8. Second hollow rotary table; 9. Fourth servo motor; 10. Second telescopic arm; 11. Fifth servo motor; 12. Third hollow rotary table; 13. Sixth servo motor; 14. Seventh servo motor; 15. First harmonic reducer rotary joint; 16. Eighth servo motor; 17. Second harmonic reducer rotary joint; 18. Ninth servo motor; 19. Third harmonic reducer rotary joint; 21. Binocular stereo vision sensor; 50. Lateral drive motor Structure; 51. First-stage rotating unit; 52. Second-stage rotating unit; 53. Guide rail; 55. Guide rail seat; 56. Connecting edge; 57. First lead screw; 58. First lead screw connecting seat; 59. First outer shell; 60. First inner shell; 61. First slide rail; 62. First window; 63. First slide block; 65. First motor mounting plate; 66. First driving wheel; 67. First driven wheel; 68. First transmission belt; 69. Second outer shell; 70. Second window; 71. Second slide rail; 72. Second slide block; 73. Second inner shell; 75. Second motor mounting plate; 76. Second driving wheel; 77. Second driven wheel; 78. Second transmission belt. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments: In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "setting," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] like Figures 1 to 14 As shown, an autonomous sensing robotic arm suitable for use in confined spaces includes a compact equipment mounting base 1; The transverse sliding rail 2 is set on the upper end of the compact equipment mounting base 1 and can move back and forth along the length of the compact equipment mounting base 1; A lateral drive mechanism 50 is disposed at the lower end of the lateral translation slide rail 2 and is used to drive the lateral translation slide rail 2 to move on the compact equipment mounting base 1. The first-stage rotation unit 51 is disposed on the transverse translation slide rail 2 and is used to realize the first-stage rotation adjustment of the first telescopic arm 6 in the horizontal direction. The lower end of the front half of the first telescopic arm 6 is connected to the first-stage rotating unit 51 to realize the linear extension and retraction of the robotic arm in the horizontal direction and expand the working radius. The second-stage rotation unit 52 is disposed on the first telescopic arm 6 and is used to realize the second-stage rotation adjustment of the second telescopic arm 10 in the horizontal direction, and cooperate with the first-stage rotation unit 51 to complete the positioning in the horizontal plane. The second telescopic arm 10 is mounted on the second-stage rotating unit 52 and is used to realize the linear extension and retraction of the robotic arm in the horizontal direction, thereby expanding the working radius. A binocular stereo vision sensor 21 is installed on the second telescopic arm 10. It is used to perform three-dimensional ranging in real time, identify unexpected obstacles in the working area, and generate a three-dimensional point cloud of the local environment, providing environmental perception data for the robotic arm to avoid obstacles and plan its path.

[0041] The transverse sliding slide rail base 2 has a rectangular frame structure. The upper end of the transverse sliding slide rail base 2 is provided with two parallel guide rails 53, and the lower end of the transverse sliding slide rail base 2 is provided with a plurality of guide rail seats 55, each of the guide rail seats 55 sliding on the respective guide rails 53. Two connecting edges 56 are provided on both sides of the transverse sliding slide rail base 2, and each connecting edge 56 is used for detachable connection with the compact equipment mounting base 1.

[0042] The lateral drive mechanism 50 includes a first servo motor 3 mounted on the compact equipment mounting base 1. The output end of the first servo motor 3 is connected to one end of a first lead screw 57. The other end of the first lead screw 57 is rotatably connected to the lateral translation slide rail 2. The lower end of the lateral translation slide rail 2 is provided with a first lead screw connecting seat 58, which is sleeved on the first lead screw 57.

[0043] The first-stage rotating unit 51 includes a second servo motor 5 disposed at the lower end of the transverse translation slide rail 2. A first hollow rotating platform 4 is disposed at the upper end of the transverse translation slide rail 2. The first telescopic arm 6 is rotatably connected to the transverse translation slide rail 2 through the first hollow rotating platform 4. The second servo motor 5 is used to drive the first hollow rotating platform 4 to rotate.

[0044] The first telescopic arm 6 includes a first outer shell 59 and a first inner shell 60; The lower end of the front half of the first section of the outer shell 59 is connected to the first hollow rotating platform 4 and is driven to rotate by the first hollow rotating platform 4. The first section of the outer shell 59 has a plurality of first windows 62. The inner side wall of the first section of the outer shell 59 is provided with two first slide rails 61. The first inner shell 60 is located inside the first section of the outer shell 59. The outer side wall of the first inner shell 60 is provided with a first slide block 63. The first slide block 63 slides on the first slide rail 61. The first section of the outer shell 59 is provided with a first motor mounting plate 65 at its front end. A third servo motor 7 is provided on the inner side of the first motor mounting plate 65, and a first driving wheel 66 and a first driven wheel 67 are provided on the outer side. The first driving wheel 66 and the first driven wheel 67 are connected by a first transmission belt 68. The output end of the third servo motor 7 is connected to the first driving wheel 66. The second-stage rotating unit 52 is located outside the first section of the outer shell 59 and is provided in the rear half of the first section of the inner shell 60.

[0045] The second-stage rotating unit 52 includes a second hollow rotating platform 8 disposed in the rear half of the first inner shell 60. A fourth servo motor 9 for controlling the rotation of the second hollow rotating platform 8 is disposed inside the first inner shell 60. The upper end of the second hollow rotating platform 8 is connected to the second telescopic arm 10.

[0046] The second telescopic arm 10 includes a second outer shell 69 and a second inner shell 73; The lower end of the rear half of the second outer shell 69 is connected to the second hollow rotating platform 8 and is driven to rotate by the second hollow rotating platform 8. The second outer shell 69 has several second windows 70. The inner side wall of the second outer shell 69 is provided with two second slide rails 71. The second inner shell 73 is located inside the second outer shell 69. The outer side wall of the second inner shell 73 is provided with a second slide block 72. The second slide block 72 slides on the second slide rail 71. The rear end of the second housing 69 is provided with a second motor mounting plate 75. The inner side of the second motor mounting plate 75 is provided with a fifth servo motor 11, and the outer side is provided with a second driving wheel 76 and a second driven wheel 77. The second driving wheel 76 and the second driven wheel 77 are connected by a second transmission belt 78. The output end of the fifth servo motor 11 is connected to the second driving wheel 76.

[0047] The sixth servo motor 13 is located outside the second outer shell 69 and is disposed at the lower end of the front half of the second inner shell 73, and is used to provide power drive for the rotational movement of the third hollow rotary table 12. The third hollow rotary table 12 is set at the output end of the sixth servo motor 13 and is used to adjust the horizontal orientation of the end operation plane to realize the adjustment of the working angle. The seventh servo motor 14 is mounted on the third hollow rotary table 12 and connected to the first harmonic reducer rotary joint 15. It is used to provide power drive for the first stage vertical rotation motion of the end active lifting mechanism. The first harmonic reducer rotary joint 15 is connected to the third hollow rotary table 12 and serves as the first-stage rotary joint of the end active lifting mechanism to realize the lifting motion of the end. Backlash-free transmission ensures motion accuracy. The eighth servo motor 16 is located at the second rotary joint of the end active lifting mechanism and is connected to the second harmonic reducer rotary joint 17 to provide power drive for the second-stage vertical rotation motion of the end active lifting mechanism. The second harmonic reducer rotary joint 17 is located at the end of the first harmonic reducer rotary joint 15 away from the third hollow rotary table 12. It is connected to the first harmonic reducer rotary joint 15, the eighth servo motor 16, and the ninth servo motor 18. As the second-stage rotary joint of the end active lifting mechanism, it is used to realize the telescopic movement of the end and cooperate with the first-stage joint to complete the spatial position adjustment. The ninth servo motor 18 is located at the third rotary joint of the end active lifting mechanism and is connected to the rotary joint 19 of the third harmonic reducer. It is used to provide power drive for the third stage vertical rotation of the end active lifting mechanism. The third harmonic reducer rotary joint 19 is located at the end of the second harmonic reducer rotary joint 17 away from the first harmonic reducer rotary joint 15. It is connected to the second harmonic reducer rotary joint 17, the ninth servo motor 18, and the binocular stereo vision sensor 21. As the third-stage rotary joint of the end active lifting mechanism, it is used to realize the pitch movement of the end and adjust the working posture to adapt to different working surfaces.

[0048] A control system for an autonomous sensing robotic arm suitable for use in confined spaces, the system comprising: The visual perception data acquisition module is used to receive real-time image data of the working environment collected by the binocular stereo vision sensor 21, perform stereo matching and three-dimensional analysis on the image data, generate three-dimensional point cloud data of the working area and target working surface distance data, and send the above data in real time after standardization and encapsulation. The environmental scene modeling module is used to receive encapsulated data from the visual perception data acquisition module, construct and dynamically update a 3D planning scene model of the working environment, and perform feature marking and position calibration on fixed obstacles and unexpected dynamic obstacles in the model. The motion trajectory planning module is used to load the URDF kinematic model of the robotic arm body, combine obstacle information in the 3D planning scene model and the robotic arm's own motion constraints, calculate the optimal motion trajectory without collision online, and also support dynamic replanning of the trajectory triggered by the updated scene model. The joint drive control module is used to convert the trajectory data generated by the motion trajectory planning module into drive instructions for the first servo motor 3, the second servo motor 5, the third servo motor 7, the fourth servo motor 9, the fifth servo motor 11, the sixth servo motor 13, the seventh servo motor 14, the eighth servo motor 16, and the ninth servo motor 18. The module sends instructions to each servo motor according to a preset timing sequence and receives status feedback data of each joint of the robotic arm in real time. The task scheduling module receives advanced task instructions from external sources, breaks down the task into a sequence of sub-tasks that the robotic arm can execute, sends the sub-task planning requirements to the motion trajectory planning module in sequence, and monitors the execution status of the sub-tasks to achieve full-process scheduling of the task.

[0049] An autonomous operation method for an autonomous sensing robotic arm suitable for use in confined spaces, the method comprising the following steps: S1: The control system is initialized, and the communication connection and parameter configuration of the visual perception data acquisition module, environmental scene modeling module, motion trajectory planning module and joint drive control module are completed. The control robot body is in the initial state of retraction and folding. The compact equipment mounting base 1 is fixed to the bearing platform, and the lateral translation slide rail 2 returns to the initial position. S2: The visual perception data acquisition module activates the binocular stereo vision sensor 21 to acquire initial image data of the working environment and parse it into three-dimensional point cloud data and distance data, and sends the data to the environment scene modeling module; S3: The environment scene modeling module constructs a 3D planning scene model of the working environment based on the initial perception data, marks the features and positions of fixed obstacles in the scene, and synchronizes the completed 3D planning scene model to the motion trajectory planning module. S4: The task scheduling module receives advanced task instructions for narrow space scanning from external sources, breaks them down into sub-task sequences of lateral translation, arm extension and retraction, joint rotation, and working surface scanning, and sends the planning requirements for the first lateral translation sub-task to the motion trajectory planning module. S5: The motion trajectory planning module plans collision-free motion trajectories online based on the 3D planning scene model and the robotic arm URDF model. For the lateral translation sub-task, it generates the drive trajectory data of the first servo motor 3. For the arm extension sub-task, it generates the drive trajectory data of the third servo motor 7 and the fifth servo motor 11. For the joint rotation sub-task, it generates the drive trajectory data of the second servo motor 5, the fourth servo motor 9, the sixth servo motor 13, the seventh servo motor 14, the eighth servo motor 16, and the ninth servo motor 18. All trajectory data are sent to the joint drive control module. S6: The joint drive control module converts the trajectory data into pulse drive commands for the corresponding servo motors. According to the preset timing, it sends commands to the first servo motor 3 to drive the lateral translation slide rail 2 to translate, sends commands to the second servo motor 5 and the fourth servo motor 9 to drive the first hollow rotary table 4 and the second hollow rotary table 8 to rotate, sends commands to the third servo motor 7 and the fifth servo motor 11 to drive the first telescopic arm 6 and the second telescopic arm 10 to extend and retract, sends commands to the sixth servo motor 13 to drive the third hollow rotary table 12 to rotate, and sends commands to the seventh servo motor 14, the eighth servo motor 16, and the ninth servo motor 18 to drive the first harmonic reducer rotary joint 15, the second harmonic reducer rotary joint 17, and the third harmonic reducer rotary joint 19 to complete the end-effector posture adjustment, control the robotic arm body to execute trajectory actions, and simultaneously collect the status feedback data of each joint in real time and send it back to the motion trajectory planning module. S7: During the execution of the trajectory action by the robotic arm, the binocular stereo vision sensor 21 continuously collects real-time image data of the environment. The visual perception data acquisition module synchronously parses and sends it to the environmental scene modeling module. If an unexpected obstacle is detected in the work area, the environmental scene modeling module immediately updates the three-dimensional planning scene model and sends a replanning trigger signal to the motion trajectory planning module. The motion trajectory planning module replans the collision-free local trajectory online based on the updated model and re-executes steps S5-S6. S8: The task scheduling module monitors the execution status of subtasks through feedback data from each module. After the first lateral translation subtask is completed, the subsequent subtask planning requirements for arm extension, joint rotation, and working surface scanning are issued in sequence. Steps S5-S7 are repeated until the full area scan of the working surface on both sides of the obstacle is completed. After all subtasks are completed, the advanced task of scanning the entire narrow space is completed.

[0050] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An autonomous sensing robotic arm suitable for use in confined spaces, characterized in that, Includes a compact equipment mounting base (1); The transverse sliding rail seat (2) is set on the upper end of the compact equipment mounting base (1) and can move back and forth along the length direction of the compact equipment mounting base (1); A lateral drive mechanism (50) is provided at the lower end of the lateral translation slide rail (2) for driving the lateral translation slide rail (2) to move on the compact equipment mounting base (1); The first-stage rotating unit (51) is set on the transverse translation slide rail seat (2) to realize the first-stage rotation adjustment of the first telescopic arm (6) in the horizontal direction; The first telescopic arm (6) has its lower front half connected to the first-stage rotating unit (51) to achieve linear extension and retraction of the robotic arm in the horizontal direction and expand its working radius. The second-stage rotating unit (52) is set on the first telescopic arm (6) to realize the second-stage rotation adjustment of the second telescopic arm (10) in the horizontal direction, and cooperate with the first-stage rotating unit (51) to complete the positioning in the horizontal plane; The second telescopic arm (10) is mounted on the second-stage rotating unit (52) and is used to realize the linear extension and retraction of the robotic arm in the horizontal direction, thereby expanding the working radius. A binocular stereo vision sensor (21) is installed on the second telescopic arm (10) to perform real-time three-dimensional ranging, identify unexpected obstacles in the work area and generate a three-dimensional point cloud of the local environment, providing environmental perception data for the robotic arm to avoid obstacles and plan paths.

2. The autonomous sensing robotic arm for confined spaces according to claim 1, characterized in that: The transverse sliding slide seat (2) has a rectangular frame structure. The upper end of the transverse sliding slide seat (2) is provided with two parallel guide rails (53). The lower end of the transverse sliding slide seat (2) is provided with several guide rail seats (55). Each guide rail seat (55) is slidably mounted on each guide rail (53). Two connecting edges (56) are provided on both sides of the transverse sliding slide seat (2). Each connecting edge (56) is used for detachable connection with the compact equipment mounting base (1).

3. The autonomous sensing robotic arm for confined spaces according to claim 2, characterized in that: The lateral drive mechanism (50) includes a first servo motor (3) mounted on the compact equipment mounting base (1). The output end of the first servo motor (3) is connected to one end of a first lead screw (57). The other end of the first lead screw (57) is rotatably connected to the lateral translation slide rail seat (2). The lower end of the lateral translation slide rail seat (2) is provided with a first lead screw connecting seat (58), which is sleeved on the first lead screw (57).

4. The autonomous sensing robotic arm suitable for confined spaces according to claim 3, characterized in that: The first-stage rotating unit (51) includes a second servo motor (5) disposed at the lower end of the transverse translation slide rail (2). A first hollow rotating platform (4) is disposed at the upper end of the transverse translation slide rail (2). The first telescopic arm (6) is rotatably connected to the transverse translation slide rail (2) through the first hollow rotating platform (4). The second servo motor (5) is used to drive the first hollow rotating platform (4) to rotate.

5. The autonomous sensing robotic arm for confined spaces according to claim 4, characterized in that: The first telescopic arm (6) includes a first outer shell (59) and a first inner shell (60); The lower end of the front half of the first section of the outer shell (59) is connected to the first hollow rotating platform (4) and rotates through the first hollow rotating platform (4). The first section of the outer shell (59) has several first windows (62). The inner wall of the first section of the outer shell (59) is provided with two first slide rails (61). The first inner shell (60) is located inside the first section of the outer shell (59). The outer wall of the first inner shell (60) is provided with a first slide block (63). The first slide block (63) slides on the first slide rail (61). The first section of the outer shell (59) is provided with a first motor mounting plate (65) at its front end. A third servo motor (7) is provided on the inner side of the first motor mounting plate (65), and a first driving wheel (66) and a first driven wheel (67) are provided on the outer side. The first driving wheel (66) and the first driven wheel (67) are connected by a first transmission belt (68). The output end of the third servo motor (7) is connected to the first driving wheel (66). The second stage rotating unit (52) is located outside the first section of the outer shell (59) and is provided in the rear half of the first section of the inner shell (60).

6. The autonomous sensing robotic arm for confined spaces according to claim 5, characterized in that: The second-stage rotating unit (52) includes a second hollow rotating platform (8) disposed in the rear half of the first inner shell (60). A fourth servo motor (9) for controlling the rotation of the second hollow rotating platform (8) is disposed inside the first inner shell (60). The upper end of the second hollow rotating platform (8) is connected to the second telescopic arm (10).

7. The autonomous sensing robotic arm for confined spaces according to claim 6, characterized in that: The second telescopic arm (10) includes a second outer shell (69) and a second inner shell (73); The lower end of the rear half of the second shell section (69) is connected to the second hollow rotating platform (8) and rotates through the second hollow rotating platform (8). The second shell section (69) has several second windows (70). The inner wall of the second shell section (69) is provided with two second slide rails (71). The second inner shell section (73) is located inside the second shell section (69). The outer wall of the second inner shell section (73) is provided with a second slide block (72). The second slide block (72) slides on the second slide rail (71). The rear end of the second housing (69) is provided with a second motor mounting plate (75). The inner side of the second motor mounting plate (75) is provided with a fifth servo motor (11), and the outer side is provided with a second driving wheel (76) and a second driven wheel (77). The second driving wheel (76) and the second driven wheel (77) are connected by a second transmission belt (78). The output end of the fifth servo motor (11) is connected to the second driving wheel (76).

8. The autonomous sensing robotic arm for confined spaces according to claim 7, characterized in that, Also includes: The sixth servo motor (13) is located outside the second outer shell (69) and is set at the lower end of the front half of the second inner shell (73) to provide power drive for the rotation of the third hollow rotary table (12); The third hollow rotary table (12) is set at the output end of the sixth servo motor (13) and is used to adjust the horizontal orientation of the end operation plane to realize the adjustment of the working angle. The seventh servo motor (14) is mounted on the third hollow rotary table (12) and connected to the first harmonic reducer rotary joint (15) to provide power drive for the first stage vertical rotation motion of the end active lifting mechanism; The first harmonic reducer rotary joint (15) is connected to the third hollow rotary table (12) and serves as the first-stage rotary joint of the end active lifting mechanism to realize the lifting motion of the end. The eighth servo motor (16) is located at the second rotary joint of the end active lifting mechanism and is connected to the rotary joint (17) of the second harmonic reducer. It is used to provide power drive for the second stage vertical rotation of the end active lifting mechanism. The second harmonic reducer rotary joint (17) is located at the end of the first harmonic reducer rotary joint (15) away from the third hollow rotary table (12), and is connected to the first harmonic reducer rotary joint (15), the eighth servo motor (16), and the ninth servo motor (18). It serves as the second-stage rotary joint of the end active lifting mechanism to realize the telescopic movement of the end and cooperate with the first-stage joint to complete the spatial position adjustment. The ninth servo motor (18) is located at the third rotary joint of the end active lifting mechanism and is connected to the rotary joint (19) of the third harmonic reducer. It is used to provide power drive for the third stage vertical rotation of the end active lifting mechanism. The third harmonic reducer rotary joint (19) is located at the end of the second harmonic reducer rotary joint (17) away from the first harmonic reducer rotary joint (15). It is connected to the second harmonic reducer rotary joint (17), the ninth servo motor (18), and the binocular stereo vision sensor (21). As the third-stage rotary joint of the end active lifting mechanism, it is used to realize the pitch movement of the end and adjust the working posture to adapt to different working surfaces.

9. A control system for an autonomous sensing robotic arm suitable for use in confined spaces, characterized in that: The system includes: The visual perception data acquisition module is used to receive real-time image data of the working environment collected by the binocular stereo vision sensor (21), perform stereo matching and three-dimensional analysis on the image data, generate three-dimensional point cloud data of the working area and target working surface distance data, and send the above data in real time after standardization and encapsulation. The environmental scene modeling module is used to receive encapsulated data from the visual perception data acquisition module, construct and dynamically update a 3D planning scene model of the working environment, and perform feature marking and position calibration on fixed obstacles and unexpected dynamic obstacles in the model. The motion trajectory planning module is used to load the URDF kinematic model of the robotic arm body, combine obstacle information in the 3D planning scene model and the robotic arm's own motion constraints, calculate the optimal motion trajectory without collision online, and also support dynamic replanning of the trajectory triggered by the updated scene model. The joint drive control module is used to convert the trajectory data generated by the motion trajectory planning module into drive instructions for the first servo motor (3), the second servo motor (5), the third servo motor (7), the fourth servo motor (9), the fifth servo motor (11), the sixth servo motor (13), the seventh servo motor (14), the eighth servo motor (16), and the ninth servo motor (18), send instructions to each servo motor according to the preset timing sequence, and receive the status feedback data of each joint of the robotic arm in real time. The task scheduling module receives advanced task instructions from external sources, breaks down the task into a sequence of sub-tasks that the robotic arm can execute, sends the sub-task planning requirements to the motion trajectory planning module in sequence, and monitors the execution status of the sub-tasks to achieve full-process scheduling of the task.

10. An autonomous operation method for an autonomous sensing robotic arm suitable for confined spaces, characterized in that, The method includes the following steps: S1: The control system is initialized, and the communication connection and parameter configuration of the visual perception data acquisition module, environmental scene modeling module, motion trajectory planning module and joint drive control module are completed. The control robot body is in the initial state of retraction and folding. The compact equipment mounting base (1) is fixed to the bearing platform, and the lateral translation slide rail (2) returns to the initial position. S2: The visual perception data acquisition module starts the binocular stereo vision sensor (21), acquires the initial image data of the working environment and parses it into three-dimensional point cloud data and distance data, and sends the data to the environment scene modeling module; S3: The environment scene modeling module constructs a 3D planning scene model of the working environment based on the initial perception data, marks the features and positions of fixed obstacles in the scene, and synchronizes the completed 3D planning scene model to the motion trajectory planning module. S4: The task scheduling module receives advanced task instructions for narrow space scanning from external sources, breaks them down into sub-task sequences of lateral translation, arm extension and retraction, joint rotation, and working surface scanning, and sends the planning requirements for the first lateral translation sub-task to the motion trajectory planning module. S5: The motion trajectory planning module plans collision-free motion trajectories online based on the three-dimensional planning scene model and the robotic arm URDF model. For the lateral translation sub-task, it generates the drive trajectory data of the first servo motor (3). For the arm extension sub-task, it generates the drive trajectory data of the third servo motor (7) and the fifth servo motor (11). For the joint rotation sub-task, it generates the drive trajectory data of the second servo motor (5), the fourth servo motor (9), the sixth servo motor (13), the seventh servo motor (14), the eighth servo motor (16), and the ninth servo motor (18). All trajectory data are sent to the joint drive control module. S6: The joint drive control module converts the trajectory data into pulse drive commands for the corresponding servo motors. According to the preset timing, it sends commands to the first servo motor (3) to drive the transverse translation slide rail (2) to translate, sends commands to the second servo motor (5) and the fourth servo motor (9) to drive the first hollow rotary table (4) and the second hollow rotary table (8) to rotate, sends commands to the third servo motor (7) and the fifth servo motor (11) to drive the first telescopic arm (6) and the second telescopic arm (10) to extend and retract, sends commands to the sixth servo motor (13) to drive the third hollow rotary table (12) to rotate, and sends commands to the seventh servo motor (14), the eighth servo motor (16), and the ninth servo motor (18) to drive the first harmonic reducer rotary joint (15), the second harmonic reducer rotary joint (17), and the third harmonic reducer rotary joint (19) to complete the end posture adjustment, control the robotic arm body to perform trajectory actions, and at the same time collect the status feedback data of each joint in real time and send it back to the motion trajectory planning module. S7: During the execution of the trajectory action by the robotic arm, the binocular stereo vision sensor (21) continuously collects real-time image data of the environment. The visual perception data acquisition module synchronously parses and sends the data to the environmental scene modeling module. If an unexpected obstacle is detected in the work area, the environmental scene modeling module immediately updates the three-dimensional planning scene model and sends a replanning trigger signal to the motion trajectory planning module. The motion trajectory planning module replans the collision-free local trajectory online based on the updated model and re-executes steps S5-S6. S8: The task scheduling module monitors the execution status of subtasks through feedback data from each module. After the first lateral translation subtask is completed, the subsequent subtask planning requirements for arm extension, joint rotation, and working surface scanning are issued in sequence. Steps S5-S7 are repeated until the full area scan of the working surface on both sides of the obstacle is completed. After all subtasks are completed, the advanced task of scanning the entire narrow space is completed.

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