CN109648555A - A kind of automatic transferring tool arm control method based on Multi-sensor Fusion - Google Patents
A kind of automatic transferring tool arm control method based on Multi-sensor Fusion Download PDFInfo
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- CN109648555A CN109648555A CN201811549320.7A CN201811549320A CN109648555A CN 109648555 A CN109648555 A CN 109648555A CN 201811549320 A CN201811549320 A CN 201811549320A CN 109648555 A CN109648555 A CN 109648555A
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- guided missile
- mechanical arm
- alignment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- Engineering & Computer Science (AREA)
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Abstract
The automatic transferring tool arm control method based on Multi-sensor Fusion that the invention discloses a kind of, comprising: mobile to target vehicle position region according to the thick information control mechanical arm in target vehicle position；Location information is directed at using the guided missile installing of the visual sensor and laser distance sensor acquisition target vehicle of setting on the robotic arm；Mechanical arm move guidance bullet stored position region is controlled according to the thick information in guided missile storage position；Location information is directed at using visual sensor and laser distance sensor acquisition guided missile；Control the movement of guided missile alignment position on mechanical arm crawl guided missile；Alignment location information control mechanical arm is installed to the posture coarse regulation of guided missile and move guidance bullet installing alignment position according to guided missile；Guided missile alignment connector is extremely placed in the guided missile installing alignment position of target vehicle according to the posture that guided missile is directed at location information and the guided missile installing alignment location information control whole guided missile of mechanical arm accurate adjustment.The present invention realizes the function of reprinting target automation and the identification of target position height.
Description
Technical field
The present invention relates to mechanical arm control technology fields, and in particular to a kind of automatic transferring based on Multi-sensor Fusion
Tool arm control method.
Background technique
By years development, mechanical arm control technology is constantly mature, and is used widely in various fields.It is directed at present
Crawl, the mechanical arm reprinted and controlled have carried out more design, and the patent if grant number is CN104057458B discloses one kind
Multi-shaft mechanical arm visual control system and method based on body-sensing and touch, operator are intuitively controlled by hand-held controlling terminal
Multi-shaft mechanical arm；Grant number is that the patent of CN103085054B discloses a kind of hydraulic force feedback of hot-line repair robot master-slave mode
The posture of main mechanical arm is mapped to from mechanical arm to control machinery by processor by mechanical arm control system and method
Arm operation；Grant number is that the patent of CN105522570B discloses a kind of quick crawl robot with complete cycle movement, can
Realize that wide-angle, the fixed point of high rigidity grab task；The patent of Publication No. CN107227700A discloses a kind of guidance traffic
Or separate traffic accommodation road road cone separation crawl robot, realize the separation, steady of high efficiency, Fully-mechanized whole folded road cone
Surely function is grabbed.In terms of the above content, the mobile mechanical arm applied for a patent is more, but most mobile mechanical arms are still traditional form
Mechanical control method, operating process need artificial participant position identification, and the intelligent and degree of modularity is not high, causes system operatio
It is time-consuming, inconvenient to get up.
For special vehicle have the characteristics that reprint position it is uncertain, in loading chute with target position be it is non-absolutely
Position is parked by reprinting vehicle and target vehicle controllers according to instruction is opposite, and meet setting parks error.It was reprinting
Cheng Zhong, need to reprint mechanical arm identification load and target position, control reprint mechanical arm complete load crawl, transhipment, posture adjustment,
The mechanical arm of reprinting of alignment and placement, special vehicle is needed to have detection, be identified, the control mode of processing and control one.
And at present for, reprint mechanical arm compared with most without target identification ability, needing manually to carry out mechanical arm tail end mesh
Mark is not or workshop internally-fixed reprints robot, i.e. initial position and target position is fixed relative to the earth, turns
It carries robot and carries out manual debugging after fixed installation, program circuit is executed during follow-up operation to be changed, therefore needle
To disadvantages described above, need to solve the problems, such as to reprint the identification of low target existing for mechanical arm, semi-automatic reprinting.
Summary of the invention
In view of the deficiencies in the prior art, the purpose of the present invention is to provide a kind of based on Multi-sensor Fusion from
Turn carries Mechanical arm control method, realizes the function of reprinting target automation and the identification of target position height.
To achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of automatic transferring tool arm control method based on Multi-sensor Fusion, the control method include:
It is mobile to target vehicle position region according to the thick information control mechanical arm in target vehicle position；
Use the guided missile for visual sensor and laser distance sensor the acquisition target vehicle being arranged on the mechanical arm
Installing alignment location information；
Mechanical arm move guidance bullet stored position region is controlled according to the thick information in guided missile storage position；
Location information is directed at using the visual sensor and laser distance sensor acquisition guided missile；
Control the movement that the mechanical arm grabs guided missile alignment position on the guided missile；
The mechanical arm is controlled to the posture coarse regulation of the guided missile according to guided missile installing alignment location information and is moved
The installing alignment of guided missile described in trend position；
Location information is directed at according to the guided missile and guided missile installing alignment location information controls the mechanical arm accurate adjustment
The posture of the whole guided missile is directed at position to guided missile installing of the guided missile alignment connector in target vehicle is placed.
Based on the above technical solution, guided missile alignment location information include missile-borne crawl position and with this
The matched alignment connector in crawl position, the alignment connector are used to for guided missile being installed on guided missile installing alignment position.
Based on the above technical solution, after obtaining crawl position using the visual sensor, the crawl is compared
The appearance information of position and default crawl position, if matching, controls the mechanical arm and continue to move to the guided missile.
Based on the above technical solution, obtaining the step of guided missile installing is directed at location information includes:
The appearance information of guided missile installing alignment position is captured according to visual sensor；And
The displacement information of guided missile installing alignment position, building guided missile installing alignment position are obtained according to laser distance sensor
For the first coordinate system；Wherein, after mechanical arm is reset to initial position, first coordinate system is used for and mechanical arm initial position
The mathematical model of the optimization of information is reprinted in the building planning of initial coordinate system.
Based on the above technical solution, the step of acquisition crawl position information includes:
It receives and reprints instruction；
The reprinting instruction based on the received, mechanical arm is reprinted to guided missile storage position region；
Capture crawl position information according to visual sensor, and with default crawl position information comparison, if matching, described
Mechanical arm is mobile to guided missile.
Based on the above technical solution, according to visual sensor capture crawl position information, and with default crawl position
Information comparison is set, if mismatching, the mechanical arm continuation is moved in the region of guided missile storage position, finds default crawl
Location information is until successful match.
Based on the above technical solution, it in the mechanical arm loading chute, using the visual sensor and adopts
Collect real-time image information, the displacement information of the mechanical arm is sent to controlling terminal in real time using laser sensor.
Based on the above technical solution, the machinery is obtained using the pressure sensor being arranged on the mechanical arm
Arm loads on the missile-borne pressure；If the mechanical arm, which loads on the missile-borne pressure, meets default on-load pressure,
It then controls the mechanical arm and grabs the guided missile.
Based on the above technical solution, the posture of alignment guided missile alignment connector installs the step of alignment position to guided missile
Suddenly include:
The appearance information of guided missile alignment connector and guided missile installing alignment position is compared, coarse regulation guided missile is directed at connector
Posture is extremely directed at position with guided missile installing and matches.
Based on the above technical solution, mechanical arm reprints guided missile to the guided missile installing alignment position close to target vehicle
Preset range in；
The appearance information of guided missile alignment connector and guided missile installing alignment position is compared again；
The posture of the whole guided missile alignment connector of accurate adjustment is extremely directed at position with guided missile installing and matches；
If it is practical compare number be more than it is default compare number still can not successful match, go to artificial treatment.
Compared with the prior art, the advantages of the present invention are as follows:
The present invention provides a kind of automatic transferring tool arm control method based on Multi-sensor Fusion, realizes guided missile installing
It is controllable and adjustable by reprinting missile attitude to be provided simultaneously with grasp force for the function that position identifies, reprints path planning, automatically reprints
Function, improve the accuracy reprinted using posture coarse regulation and accurate adjustment are whole, loading chute is easy to operate, reliable for operation, letter
Breathization degree is high.
Detailed description of the invention
Fig. 1 is a kind of signal of the automatic transferring tool arm control system based on Multi-sensor Fusion in the embodiment of the present invention
Block diagram；
Fig. 2 is a kind of automatic transferring tool arm control method process based on Multi-sensor Fusion in the embodiment of the present invention
Figure；
Fig. 3 is a kind of schematic diagram of the automatic transferring tool arm based on Multi-sensor Fusion in the embodiment of the present invention；
Fig. 4 is the schematic top plan view of target vehicle in the embodiment of the present invention；
5- target vehicle, 6- reprint vehicle, and 7- guided missile, 8- mechanical arm, 9- guided missile, which is installed, is directed at position, and 10- alignment patches
Part installing port.
Specific embodiment
Clear, complete description is carried out below with reference to technical solution of the attached drawing to embodiment each in the present invention, it is clear that institute
The embodiment of description is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiment of the present invention,
Those of ordinary skill in the art's obtained all other embodiment without making creative work belongs to this
Invent protected range.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.It should be pointed out that all attached drawings are illustrative expression.For the ordinary skill of this field
For personnel, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
The present invention is described in further detail below through specific implementation examples and in conjunction with the accompanying drawings.
Embodiment
The embodiment of the present invention provides a kind of automatic transferring tool arm control method based on Multi-sensor Fusion, such as Fig. 2~3
Shown, the control method includes:
Step S1: mobile to 5 position region of target vehicle according to the thick information control mechanical arm in 5 position of target vehicle；
Step S2: target carriage is acquired using the visual sensor and laser distance sensor being arranged on the mechanical arm 8
5 guided missile installing alignment 9 information of position；
Step S3: the 8 move guidance bullet stored position location of mechanical arm is controlled according to the thick information in guided missile storage position
Domain；Wherein, guided missile storage position and the mechanical arm, which are set to, reprints on vehicle 6；
Step S4: location information is directed at using the visual sensor and laser distance sensor acquisition guided missile；Its
In, guided missile alignment location information include crawl position on guided missile 7 and with the matched alignment connector in the crawl position, institute
It states alignment connector and is used to for guided missile 7 being adapted to the alignment connector installing port 10 being installed on guided missile installing alignment position 9；
Step S5: the movement that the mechanical arm 8 grabs guided missile alignment position on the guided missile is controlled；
Step S6: alignment 9 information of position is installed according to the guided missile and controls the mechanical arm 8 to the posture of the guided missile 7
Coarse regulation is simultaneously mobile to guided missile installing alignment position 9；
Step S7: location information is directed at according to the guided missile and guided missile installing alignment 9 information of position controls the machine
The posture of the whole guided missile 7 of 8 accurate adjustment of tool arm is directed at guided missile installing of the connector in target vehicle to level to the guided missile is placed
Set the alignment connector installing port 10 on 9.
Specifically, in step s 2, obtaining the step of guided missile installing is directed at location information includes:
The appearance information of guided missile installing alignment position is captured according to visual sensor；And
The displacement information of guided missile installing alignment position, building guided missile installing alignment position are obtained according to laser distance sensor
For the first coordinate system；Wherein, after mechanical arm is reset to initial position, first coordinate system is used for and mechanical arm initial position
The mathematical model of the optimization of information is reprinted in the building planning of initial coordinate system.
Specifically, crawl position and certain with the matched spatial relation for being directed at connector in the crawl position, pre-
Under the premise of Missile Information, identification crawl position is to identify that alignment connector, the alignment connector are used for guided missile
It is installed on the mounting base of the installation guided missile on guided missile installing alignment position.
Further, in step s 4, after obtaining crawl position using the visual sensor, the crawl position is compared
It controls the mechanical arm if matching with the appearance information of default crawl position and continues to move to the guided missile.
If guided missile has multiple types, then when obtaining guided missile alignment type, it is also necessary to obtain guided missile type.Therefore,
In step s 4, it after acquiring missile position information, is obtained using the visual sensor and is directed at position adaptation with guided missile installing
Guided missile type；
The visual sensor is reused to obtain and the matched crawl position of default crawl position structure institute；
The crawl position and default crawl position structure are compared, if matching, controls the mechanical arm and continue to move to
The guided missile.
Step S4 is specifically further comprising the steps of: the step of obtaining crawl position information includes:
It receives and reprints instruction；
The reprinting instruction based on the received, mechanical arm is reprinted to guided missile storage position region；
Capture crawl position information according to visual sensor, and with default crawl position structure alignment, if matching, described
Mechanical arm is mobile to guided missile.
Specifically, step S4 is specifically further comprising the steps of: according to visual sensor capture crawl position information, and with it is pre-
If crawl position compares, if mismatching, the mechanical arm continuation is moved in the region of guided missile storage position, finds crawl
Location information is until successful match.
In step s 5, it is loaded on using the pressure sensor acquisition mechanical arm being arranged on the mechanical arm described
Missile-borne pressure；If the mechanical arm, which loads on the missile-borne pressure, meets default on-load pressure, the machine is controlled
Tool arm grabs the guided missile.
Step S6 is specifically includes the following steps: the posture of alignment guided missile alignment connector installs the step of alignment position to guided missile
Suddenly include:
The appearance information of guided missile alignment connector and guided missile installing alignment position is compared, coarse regulation guided missile is directed at connector
Posture is extremely directed at position with guided missile installing and matches；
If it is practical compare number be more than it is default compare number still can not successful match, go to artificial treatment.
Step S7 is specifically includes the following steps: mechanical arm reprints guided missile to the guided missile installing alignment position close to target vehicle
Preset range in；
The appearance information of guided missile alignment connector and guided missile installing alignment position is compared again；
The posture of the whole guided missile alignment connector of accurate adjustment is extremely directed at position with guided missile installing and matches；
If it is practical compare number be more than it is default compare number still can not successful match, go to artificial treatment.
Further, in the mechanical arm loading chute, real-time image information is acquired using the visual sensor, is made
The displacement information of the mechanical arm is sent to controlling terminal in real time with laser sensor.
Further it is illustrated with a kind of specific embodiment.
A kind of automatic transferring tool arm control system based on Multi-sensor Fusion, as shown in Figure 1 comprising manual control box,
Control centre's module, information acquisition module and driving layer module and mechanical arm；Start the control system by manual control box, is believing
Under the synergistic effect for ceasing acquisition module, control centre's module is completed completely to reprint behaviour using driving layer module drive mechanical arm
Make.
Manual control box includes operation button, controller 3, LCD MODULE and CAN interface 4；
Operation button is used to input designated command；Operation button includes start button, reprints button and conclusion button；
Start button for start, the operation of self-test and initialization；Button is reprinted for reprinting operation；Conclusion button is for terminating behaviour
Make；
Controller 3 is connected with operation button by voltage transformation module；Voltage transformation module is for receiving operation button
The voltage of output, and convert the voltage to voltage input voltage required for controller 3；Controller 3 turns for receiving voltage
Change the voltage signal that module issues, after completing logical process, is sent to CAN interface 4, while receiving and connecing by CAN bus
Liquid-crystal display information is sent to by liquid crystal driver module after the information of mouthfuls 4 inputs and processing, LCD MODULE is used to receive
The information such as position, the speed of mechanical arm are reprinted in the display information that liquid crystal driver module is sent, display.
Further, manual control box further includes that indicating lamp module mainly includes power supply indicator, reprints status indicator lamp and report
Alert indicator light, carries out state instruction for receiving the state instruction electric signal of controller 3.It is existing for indicating lamp module
There are the conventional means in technology, therefore, do not mark in figure.
Control centre's module includes CAN interface 1, the CAN interface that controller 1 and the controller 1 are respectively connected with
2 and D/A converter 1；CAN interface 1 realizes control centre's module and hand for connecting CAN interface 4 and controller 1
Control the communication between box；CAN interface 2 is used to connect the CAN interface 3 in 1 information acquisition module of controller, realizes letter
Cease the communication between acquisition module and control centre's module；D/A converter 1 is used to receive the output information of controller 1, will be digital
Signal is converted to analog signal output to driving layer module.
Information acquisition module includes the CAN interface 3 being successively electrically connected, controller 2, A/D conversion module 2, light-coupled isolation
Module and sensor group；Light-coupled isolation module is used for the electric signal of receiving sensor group and is output to the electric signal after isolation
A/D conversion module 2；A/D conversion module 2 is used to receive the electric signal of light-coupled isolation module, converts analog signals into digital letter
Controller 2 is output to after number；Controller 2 be used for receive A/D conversion module acquisition electric signal, complete signal preliminary treatment and
Format conversion, is output to CAN interface 3, while receiving 3 information of CAN interface；
Sensor group include laser sensor, visual sensor, displacement sensor, velocity sensor, angular transducer and
Pressure sensor；Wherein, the distance of laser sensor collection machinery arm terminal grabbing device distance objective；Visual sensor acquisition
The target image in the region 1m × 1m that mechanical arm terminal grabbing device is just facing；Displacement sensor collection machinery arm terminal crawl dress
Set the displacement in transfer system three-axis reference；Fortune in velocity sensor collection machinery arm terminal grabbing device moving process
Dynamic speed；The movement angle of angular transducer collection machinery 6 movable joints of arm；The crawl of pressure sensor collection machinery arm terminal
Pressure between device and load.
Driving layer module includes servo-driver, servo valve and solenoid valve, is used to receive the D/A in control centre's module
The electric signal of converter 1 is simultaneously output to mechanical arm.
A kind of automatic transferring tool arm control method based on Multi-sensor Fusion, the control method include:
Step B1: the start button in pressing the operation button passes through after controller 1 receives the operational order of controller 3
CAN interface 2 sends the enabled instruction of sensor group to controller 2, the initial position of collection machinery arm after the starting of sensor group
State arrives controller 1 by the feedback of controller 2, and controller 1 establishes mechanical arm after receiving the initial position of mechanical arm
Initial coordinate system；Controller 1 sends mechanical arm turn signal, driving mechanical arm rotation to driving layer module by D/A converter 1
To target vehicle position region.
Step B2: the guided missile installing alignment location information of target vehicle is obtained according to visual sensor, laser sensor, together
When displacement sensor and the angular transducer current three-dimensional system of coordinate of feedback mechanical arm and feed back and arrive controller 1, controller 1 receives
After guided missile installing alignment location information, LCD MODULE is sent to by CAN interface 1；Controller 1 will be by sensor group
Appearance information in the guided missile installing alignment location information of acquisition is aligned in location information with guided missile preset in controller 1 installing
Appearance information/guided missile alignment connector appearance information compare, if matching, to guided missile install alignment position establish mesh
Cursor position coordinate, and then plan and reprint robotic arm path, according to the reprinting path of optimization and movement velocity limitation setting elevating conveyor
Linear velocity and angular speed during tool arm；Hereafter, controller 1 sends mechanical arm to driving layer module by D/A converter 1 and returns
Position signal, mechanical arm return to initial position.
Step B3: the reprinting button in pressing the operation button, controller 1 receive the operation of the reprinting from controller 3 and refer to
After order, mechanical arm rotation command is sent to driving layer module by D/A converter 1, driving layer module drive mechanical arm turns to
Guided missile storage position region；
And in motion process controller 1 by CAN interface 1 send mechanical arm state information to manual control box liquid crystal
Show module.
Step B4: according to the image in face of visual sensor collection machinery arm grabbing device, due to being directed at the position of connector
It is certain for setting with crawl position, then captures crawl position information according to visual sensor, can capture guided missile alignment connector
Appearance information, feedback arrive controller 1, and with default crawl position information comparison, crawl position information and default crawl position
Information is appearance information, if matching, the mechanical arm is mobile to guided missile；If mismatching, the mechanical arm continuation is being led
It plays and is moved in stored position region, find guided missile alignment connector location information until successful match；
In step B4, if guided missile has multiple types, then also while obtaining guided missile when obtaining guided missile alignment type
Type.
Step B5: laser sensor collection machinery arm grabbing device is at a distance from guided missile alignment connector, feedback to control
Device 1 meets scheduled crawl distance until mechanical arm grabbing device is aligned at a distance from connector with guided missile, then starts crawl；Make
The mechanical arm, which is obtained, with the pressure sensor being arranged on the mechanical arm loads on the missile-borne pressure；If the machine
Tool arm loads on the missile-borne pressure and meets default on-load pressure, then controls the mechanical arm and grab the guided missile.
Step B6: alignment location information is installed according to the guided missile and controls posture coarse adjustment of the mechanical arm to the guided missile
Whole and mobile install to the guided missile is directed at position；After grabbing the guided missile, controller 1 passes through D/ according to the path planned
A converter 1 sends motor message to driving layer module, and driving mechanical arm is mobile to target vehicle；In moving process, according to leading
The placement requirement of bullet installing alignment position, controller 1 send adjustment missile attitude signal to driving layer module, and driving mechanical arm is grabbed
Device rotation missile attitude is taken to carry out coarse regulation；
Specifically, posture to the guided missile for being directed at guided missile alignment connector on guided missile installs the step of being directed at position and includes:
The appearance information of guided missile alignment connector and guided missile installing alignment position is compared, coarse regulation guided missile is directed at connector
Posture is directed at position to matching to guided missile installing；If the practical number that compares is more than that the default number that compares can not still be matched into
Function then goes to artificial treatment.
Step B7: mechanical arm is reprinted in guided missile to the preset range of the guided missile installing alignment position close to target vehicle；Again
The secondary appearance information for comparing guided missile alignment connector and guided missile installing alignment position；The posture of the whole guided missile alignment connector of accurate adjustment is extremely
Position is directed at guided missile installing to match；If it is practical compare number be more than it is default compare number still can not successful match, go to
Artificial treatment；
Specific manifestation are as follows: first determine the accurate placement location of guided missile using laser sensor and visual sensor, then by controlling
Device 1 sends exact position signal, displacement sensor and angular transducer collection machinery to driving layer module by D/A converter 1
The accurate placement location of the guided missile of arm, laser sensor acquire distance of the grabbing device apart from the accurate placement location of guided missile, and vision passes
Sensor acquires the alignment information of the accurate placement location of guided missile again, and after meeting presetting comparison requirement, mechanical arm rotation adjustment is led
It plays posture and is put into the accurate placement location of guided missile.
Step B8: after the completion of guided missile is placed, controller 1 is sent to mechanical arm by driving layer module and opens the guided missile
Signal and mechanical arm return signal, mechanical arm complete return, the conclusion button pressed the operation button.
The embodiment of the present invention provides a kind of automatic transferring tool arm control method based on Multi-sensor Fusion, realizes and leads
The function of playing installation position identification, reprint path planning, automatically reprint is provided simultaneously with grasp force controllably and by reprinting guided missile appearance
The adjustable function of state improves the accuracy reprinted using posture coarse regulation and accurate adjustment are whole, loading chute is easy to operate, operation can
It leans on, level of informatization height.
The present invention is not limited to the above-described embodiments, for those skilled in the art, is not departing from
Under the premise of the principle of the invention, several improvements and modifications can also be made, these improvements and modifications are also considered as protection of the invention
Within the scope of.The content being not described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (10)
1. a kind of automatic transferring tool arm control method based on Multi-sensor Fusion, which is characterized in that the control method packet
It includes:
It is mobile to target vehicle position region according to the thick information control mechanical arm in target vehicle position；
It is installed using the guided missile for visual sensor and laser distance sensor the acquisition target vehicle being arranged on the mechanical arm
It is directed at location information；
Mechanical arm move guidance bullet stored position region is controlled according to the thick information in guided missile storage position；
Location information is directed at using the visual sensor and laser distance sensor acquisition guided missile；
Control the movement that the mechanical arm grabs guided missile alignment position on the guided missile；
According to the guided missile install alignment location information control the mechanical arm to the posture coarse regulation of the guided missile and it is mobile to
The guided missile installing alignment position；
Location information is directed at according to the guided missile and guided missile installing alignment location information controls the whole institute of mechanical arm accurate adjustment
The posture for stating guided missile is directed at position to guided missile installing of the guided missile alignment connector in target vehicle is placed.
2. a kind of automatic transferring tool arm control method based on Multi-sensor Fusion according to claim 1, feature
Be: guided missile alignment location information include missile-borne crawl position and with the matched alignment connector in the crawl position,
The alignment connector is used to for guided missile being installed on guided missile installing alignment position.
3. a kind of automatic transferring tool arm control method based on Multi-sensor Fusion according to claim 2, feature
It is:
After obtaining crawl position using the visual sensor, the shape for comparing the crawl position and default crawl position is believed
Breath, if matching, controls the mechanical arm and continue to move to the guided missile.
4. a kind of automatic transferring tool arm control method based on Multi-sensor Fusion according to claim 3, feature
It is, obtaining the step of guided missile installing is directed at location information includes:
The appearance information of guided missile installing alignment position is captured according to visual sensor；And
The displacement information of guided missile installing alignment position is obtained according to laser distance sensor, building guided missile installing alignment position is the
One coordinate system；Wherein, after mechanical arm is reset to initial position, first coordinate system is for initial with mechanical arm initial position
The mathematical model of the optimization of information is reprinted in coordinate system building planning.
5. a kind of automatic transferring tool arm control method based on Multi-sensor Fusion according to claim 4, feature
Be, obtain crawl position information the step of include:
It receives and reprints instruction；
The reprinting instruction based on the received, mechanical arm is reprinted to guided missile storage position region；
According to visual sensor capture crawl position information, and with default crawl position information comparison, if matching, the machinery
Arm is mobile to guided missile.
6. a kind of automatic transferring tool arm control method based on Multi-sensor Fusion according to claim 5, feature
Be, crawl position information captured according to visual sensor, and with default crawl position information comparison, it is described if mismatching
Mechanical arm continuation is moved in the region of guided missile storage position, finds default crawl position information until successful match.
7. a kind of automatic transferring tool arm control method based on Multi-sensor Fusion according to claim 1, feature
It is, in the mechanical arm loading chute, using the visual sensor and acquisition real-time image information, uses laser sensing
The displacement information of the mechanical arm is sent to controlling terminal by device in real time.
8. a kind of automatic transferring tool arm control method based on Multi-sensor Fusion according to claim 1, feature
It is, obtains the mechanical arm using the pressure sensor being arranged on the mechanical arm and load on the missile-borne pressure；
If the mechanical arm, which loads on the missile-borne pressure, meets default on-load pressure, controls and led described in the mechanical arm crawl
Bullet.
9. a kind of automatic transferring tool arm control method based on Multi-sensor Fusion according to claim 1, feature
It is, posture to the guided missile of alignment guided missile alignment connector installs the step of being directed at position and includes:
The appearance information of guided missile alignment connector and guided missile installing alignment position is compared, coarse regulation guided missile is directed at the posture of connector
Match to position is directed at guided missile installing.
10. a kind of automatic transferring tool arm control method based on Multi-sensor Fusion according to claim 1, feature
It is, mechanical arm is reprinted in guided missile to the preset range of the guided missile installing alignment position close to target vehicle；
The appearance information of guided missile alignment connector and guided missile installing alignment position is compared again；
The posture of the whole guided missile alignment connector of accurate adjustment is extremely directed at position with guided missile installing and matches；
If it is practical compare number be more than it is default compare number still can not successful match, go to artificial treatment.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811549320.7A CN109648555A (en) | 2018-12-18 | 2018-12-18 | A kind of automatic transferring tool arm control method based on Multi-sensor Fusion |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811549320.7A CN109648555A (en) | 2018-12-18 | 2018-12-18 | A kind of automatic transferring tool arm control method based on Multi-sensor Fusion |
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| CN109648555A true CN109648555A (en) | 2019-04-19 |
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Cited By (4)
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| CN111232637A (en) * | 2020-02-14 | 2020-06-05 | 广东技术师范大学 | Nimble transport manipulator |
| CN112010024A (en) * | 2020-08-21 | 2020-12-01 | 南京理工大学 | Automatic container grabbing method and system based on laser and vision fusion detection |
| CN114034205A (en) * | 2021-10-25 | 2022-02-11 | 中国人民解放军空军工程大学 | Box filling system and filling method |
| CN114654457A (en) * | 2022-03-10 | 2022-06-24 | 南京航空航天大学 | Multi-station precise alignment method for mechanical arm with far and near visual distance guide |
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| CN114654457B (en) * | 2022-03-10 | 2024-03-22 | 南京航空航天大学 | Multi-station precise alignment method for mechanical arm with long-short vision distance guidance |
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Application publication date: 20190419 |