CN101863038A - Air flotation teleoperation platform based on binocular vision - Google Patents
Air flotation teleoperation platform based on binocular vision Download PDFInfo
- Publication number
- CN101863038A CN101863038A CN 201010191290 CN201010191290A CN101863038A CN 101863038 A CN101863038 A CN 101863038A CN 201010191290 CN201010191290 CN 201010191290 CN 201010191290 A CN201010191290 A CN 201010191290A CN 101863038 A CN101863038 A CN 101863038A
- Authority
- CN
- China
- Prior art keywords
- joint
- platform
- elbow joint
- shoulder joint
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to an air flotation teleoperation platform based on binocular vision, belonging to the technical filed of space robots, wherein a high-pressure tank is arranged in the air flotation tank platform, the bottom part of the air flotation platform is provided with an air foot and a nozzle. A mechanical arm mounting base, a power module, a motor driver and a controller are arranged on the air flotation platform, wherein the controller is connected with an electromagnetic valve through a connecting cable, and a valve of the high-pressure tank is respectively connected with the nozzle and the air foot. A binocular vision device and two mechanical arms are fixed on the air flotation platform through the mechanical arm mounting base. The mechanical arm comprises a shoulder joint, an upper arm, an elbow joint, a fore arm and a paw, wherein the shoulder joint is fixed on the mechanical arm mounting base, and the upper arm, the elbow joint, the fore arm are sequentially connected with the shoulder joint. The teleoperation platform of the invention can observe a target object in multi directions, and provides depth information of the target object by utilizing the binocular vision, so the invention is beneficial to the teleoperation personnel to learn about the distal environment, and avoid the occurance of accidences such as collision and the like.
Description
Technical field
The present invention relates to a kind of air floatation teleoperation platform, belong to the robot for space technical field based on binocular vision.
Background technology
The mankind enter 21 century, and scientific and technological high speed development has begun energetically to the developing of extraterrestrial field.The exploitation space has become the important symbol of weighing a national comprehensive strength and big country status with the ability of utilizing the space.And robot for space becomes a kind of important means of following exploitation space just gradually.Distant operation is a kind of important control mode of robot for space, carries out the risk that job space not only can be avoided astronaut's extravehicular work with the distant operating space replacement astronaut of robot, can also improve the economy and the security of space exploration.
Because robot for space is operated in the environment of microgravity, and pedestal is unfixing, have serious motion coupling between robot body and the mechanical arm, its kinematics, kinetic model are very complicated, so very be necessary that setting up the experimental verification system on ground studies in advance.Because visual information accounts for the mankind and obtains about 80% of external information, so nearly all remote-controlled operation platform all has vision system at present, vision system also is the important channel that local operator is obtained distant operation distal environment information in the actual distant operating process.Existing remote-controlled operation platform end only has monocular vision, and its visual field is limited, the information that in distant operating process, is blocked easily and can not fathoms, thus also limited the effect of vision system, be unfavorable for finishing smoothly of distant operation task.
There is following shortcoming in the distant operating means of existing space robot: existing remote-controlled operation platform end only has monocular vision, and the visual field is limited, is blocked easily and can not fathoms information.
Summary of the invention
The objective of the invention is to propose a kind of air floatation teleoperation platform based on binocular vision, change the structure of existing distant operating means, binocular camera is installed at the air floatation teleoperation platform top, overcome the deficiency that existing distant operation monocular vision device exists, to be used for the distant operation experiments checking of space manipulator, reach the usefulness that teaching and scientific research is done by institution of higher education and scientific research institutions.
The air floatation teleoperation platform based on binocular vision that the present invention proposes comprises air floating platform, gas cylinder, mechanical arm mounting base, power module, motor driver, controller, binocular vision device and two mechanical arms; Described gas cylinder is supported in the air floating platform by cushion, and the bottom of air floating platform is provided with gas foot and nozzle; Described mechanical arm mounting base, power module, motor driver and controller place on the air floating platform respectively, described controller links to each other by the magnetic valve of stube cable with the air floating platform bottom, the valve of described gas cylinder links to each other by tracheae, three-way connection and the magnetic valve nozzle with the air floating platform bottom, links to each other with the gas foot of air floating platform bottom with three-way connection by tracheae simultaneously; Described binocular vision device and two mechanical arms are installed in respectively on the mechanical arm mounting base, and the mechanical arm mounting base is fixed on the air floating platform; Described binocular vision device is made up of two cameras and platform, and two cameras are installed on the platform; Each mechanical arm is made up of shoulder joint, big arm, elbow joint, forearm and paw, and described shoulder joint is fixed on the mechanical arm mounting base, and described big arm, elbow joint, forearm are connected with shoulder joint successively, and paw is installed in the forearm end by mounting bracket.
Shoulder joint in the above-mentioned air floatation teleoperation platform, form by shoulder joint motor, connector and shoulder joint shell, described shoulder joint motor places the shoulder joint center, and be fixed on the described mechanical arm mounting base by connector, the output shaft of shoulder joint motor is fixed on the shoulder joint shell by flange, one side of shoulder joint shell is provided with the shoulder joint joint, and an end of big arm is fixed on the shoulder joint shell by the shoulder joint joint.
Elbow joint in the above-mentioned air floatation teleoperation platform is made up of elbow joint motor, connector, last elbow joint shell and following elbow joint shell, and described elbow joint motor places the elbow joint center, and by connector and following elbow joint shell relative fixed; The output shaft of elbow joint motor is fixed on the elbow joint shell by flange; The other end of big arm is fixed on the wrist cover by the last elbow joint joint of last elbow joint one side, and an end of forearm is fixed on down on the elbow joint shell by the following elbow joint joint of following elbow joint opposite side.
The air floatation teleoperation platform that the present invention proposes based on binocular vision, its advantage is: existing remote-controlled operation platform end only has monocular vision, the visual field is limited, be blocked easily and can not fathom information, the binocular vision device has been adopted in the distant operation of air supporting of the present invention, object observing thing that can either be multi-faceted, also overcome the drawback that monocular vision is blocked easily in operating process, utilize binocular vision can also be given to the depth information of object simultaneously, be beneficial to distant operating personnel understanding to distal environment in operating process, unexpected generations such as collision have been avoided, for finishing smoothly of distant operation task provides safeguard.
Description of drawings
Fig. 1 is the structural representation of the air floatation teleoperation platform device of the present invention's proposition.
Fig. 2 is an elbow joint structure schematic diagram of the present invention.
Fig. 3 is a shoulder joint structural representation of the present invention.
Among Fig. 1, the 1st, paw, the 2nd, mounting bracket, the 3rd, forearm, the 4th, elbow joint, the 5th, big arm, the 6th, shoulder joint, the 7th, binocular vision device, the 8th, mechanical arm mounting base, the 9th, power module, the 10th, motor driver, the 11st, controller, the 12nd, air floating platform, the 13rd, high-pressure gas cylinder valve, the 14th, gas cylinder, the 15th, tracheae, the 16th, three-way connection, the 17th, nozzle, the 18th, magnetic valve, the 19th, support column, the 20th, gas foot, the 21st, stube cable, the 22nd, cushion.Among Fig. 2, the 401st, adpting flange, the 402nd, elbow joint motor output shaft, the 403rd, elbow joint motor, the 404th, connector, the 405th, last elbow joint shell, the 406th, elbow hypozygal shell, the 407th, following elbow joint joint, the 408th, last elbow joint joint.Among Fig. 3, the 601st, adpting flange, the 602nd, shoulder joint motor output shaft, the 603rd, shoulder joint motor, the 604th, connector, the 605th, shoulder joint shell, the 606th, shoulder joint joint.
The specific embodiment
The air floatation teleoperation platform that the present invention proposes based on binocular vision, its structure comprises air floating platform 12, gas cylinder 14, mechanical arm mounting base 8, power module 9, motor driver 10, controller 11, binocular vision device 7 and two mechanical arms as shown in Figure 1.Gas cylinder 14 is supported in the air floating platform 12 by cushion 22, and the bottom of air floating platform 12 is provided with gas foot 20 and nozzle 17.Mechanical arm mounting base 8, power module 9, motor driver 10 and controller 11 place respectively on the air floating platform 12.Controller 11 links to each other with the magnetic valve 18 of air floating platform 12 bottoms by stube cable 21, the valve 13 of gas cylinder 14 links to each other with the nozzle 17 of magnetic valve 18 with air floating platform 12 bottoms by tracheae 15, three-way connection 16, links to each other with the gas foot 20 of air floating platform 12 bottoms with three-way connection 16 by tracheae 15 simultaneously.Binocular vision device 7 and two mechanical arms are installed in respectively on the mechanical arm mounting base 8, and mechanical arm mounting base 8 is fixed on the air floating platform 12.Binocular vision device 7 is made up of two cameras and platform, and two cameras are installed on the platform.Each mechanical arm is made up of shoulder joint 6, big arm 5, elbow joint 4, forearm 3 and paw 1, shoulder joint 6 is fixed on the mechanical arm mounting base 8, big arm 5, elbow joint 4, forearm 3 are connected with shoulder joint 6 successively, and paw 1 is installed in the end of forearm 3 by mounting bracket 2.Camera in the binocular vision device wherein is the WAT-250D type colour TV camera of purchasing in Japanese Watec company, two cameras can be on platform move left and right, to regulate the distance between two cameras.Platform is fixed on the mechanical arm mounting base 8, has scale on the platform, with the distance between the mark camera.
Shoulder joint in the above-mentioned air floatation teleoperation platform, its structure are made up of shoulder joint motor 603, connector 604 and shoulder joint shell 605 as shown in Figure 3.Shoulder joint motor 603 places the shoulder joint center, and be fixed on the mechanical arm mounting base 8 by connector 604, the output shaft 602 of shoulder joint motor 603 is fixed on the shoulder joint shell 605 by flange 601, one side of shoulder joint shell 605 is provided with shoulder joint joint 606, and an end of big arm 5 is fixed on the shoulder joint shell 605 by shoulder joint joint 606.
Elbow joint in the above-mentioned air floatation teleoperation platform, its structure as shown in Figure 2, be made up of elbow joint motor 403, connector 404, last elbow joint shell 405 and following elbow joint shell 406, elbow joint motor 403 places the elbow joint center, and by connector 404 and following elbow joint shell relative fixed.The output shaft 402 of elbow joint motor 403 is fixed on the elbow joint shell 405 by flange 401.The other end of big arm 5 is fixed on the wrist cover 405 by the last elbow joint joint 408 of last elbow joint shell 405 1 sides, and an end of forearm 3 is fixed on down on the wrist cover 406 by the following elbow joint joint 407 of following elbow joint shell 406 opposite sides.Receive instruction when rotating when motor, motor output shaft 402 rotates relative to motor body 403, thereby drive upper joint shell 405 rotates relative to hypozygal shell 406, and the big arm 5 of mechanical arm forearm 3 relative mechanical arms is moved.
Among the embodiment based on the air floatation teleoperation platform of binocular vision that the present invention proposes, used power module is produced by the rich company of the deep rhythm in Beijing, and model is HN-20000.Motor driver is produced by Switzerland maxon company, and model is ADS50/5.Controller is produced by Beijing Sheng Bo Xietong Science and Technology Ltd.Co, and model is PC104.Magnetic valve is produced by Japanese SMC company, and model is VQ20 type 2 logical guide electromagnetic valves.
Below in conjunction with accompanying drawing, introduce the operating process and the air supporting principle of air floatation teleoperation platform of the present invention in detail:
Open the air valve 13 of control air-flow, pressure-air discharges from gas cylinder 14, flow to the gas foot 20 that is installed in the air floating platform bottom through tracheae 15 and three-way connection 16, spray in the aperture by gas vola portion, and the gas plantar surfaces of toe and below the marble platform between form very thin air cushion layer.Whole like this remote-controlled operation platform just can float on the air cushion layer, disengages with following marble flat surface.
Air floating platform does the plane motion operating process and principle is: when the air valve 13 of opening the control air-flow, after pressure-air discharged from gas cylinder 14, air floating platform promptly disengaged with the marble flat surface, and simultaneously, pressure-air is also delivered to magnetic valve 18 places.Open required magnetic valve 18 by PC104 controller 11 then, then pressure-air flows to nozzle 17 and ejection through magnetic valve 18, and then the reaction force that is produced by the pressure-air ejection makes air floating platform to motion in the other direction.Control different magnetic valves and open, can make platform on the marble flat surface, do the two dimensional surface motion.
The air floatation teleoperation platform that the present invention proposes based on binocular vision, its major function is the object observing thing that various visual angles are provided for the operator in distant operating process, overcome the drawback that is blocked easily in the distant operating process, while is according to the relative position relation and the position coordinates of target object in two camera image interfaces of two cameras in the binocular vision camera head 7, calculate the depth information of target object, offer distant operating personnel and carry out aid decision to binocular vision device 7.
Claims (3)
1. the air floatation teleoperation platform based on binocular vision is characterized in that this air floatation teleoperation platform comprises air floating platform, gas cylinder, mechanical arm mounting base, power module, motor driver, controller, binocular vision device and two mechanical arms; Described gas cylinder is supported in the air floating platform by cushion, and the bottom of air floating platform is provided with gas foot and nozzle; Described mechanical arm mounting base, power module, motor driver and controller place on the air floating platform respectively, described controller links to each other by the magnetic valve of stube cable with the air floating platform bottom, the valve of described gas cylinder links to each other by tracheae, three-way connection and the magnetic valve nozzle with the air floating platform bottom, links to each other with the gas foot of air floating platform bottom with three-way connection by tracheae simultaneously; Described binocular vision device and two mechanical arms are installed in respectively on the mechanical arm mounting base, and the mechanical arm mounting base is fixed on the air floating platform; Described binocular vision device is made up of two cameras and platform, and two cameras are installed on the platform; Each mechanical arm is made up of shoulder joint, big arm, elbow joint, forearm and paw, and described shoulder joint is fixed on the mechanical arm mounting base, and described big arm, elbow joint, forearm are connected with shoulder joint successively, and paw is installed in the forearm end by mounting bracket.
2. air floatation teleoperation platform as claimed in claim 1, it is characterized in that wherein said shoulder joint is made up of shoulder joint motor, connector and shoulder joint shell, described shoulder joint motor places the shoulder joint center, and be fixed on the described mechanical arm mounting base by connector, the output shaft of shoulder joint motor is fixed on the shoulder joint shell by flange, one side of shoulder joint shell is provided with the shoulder joint joint, and an end of big arm is fixed on the shoulder joint shell by the shoulder joint joint.
3. air floatation teleoperation platform as claimed in claim 1, it is characterized in that wherein said elbow joint by elbow joint motor, connector, go up the elbow joint shell and following elbow joint shell is formed, described elbow joint motor places the elbow joint center, and by connector and following elbow joint shell relative fixed; The output shaft of elbow joint motor is fixed on the elbow joint shell by flange; The other end of big arm is fixed on the wrist cover by the last elbow joint joint of last elbow joint one side, and an end of forearm is fixed on down on the elbow joint shell by the following elbow joint joint of following elbow joint opposite side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101912904A CN101863038B (en) | 2010-05-28 | 2010-05-28 | Air flotation teleoperation platform based on binocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101912904A CN101863038B (en) | 2010-05-28 | 2010-05-28 | Air flotation teleoperation platform based on binocular vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101863038A true CN101863038A (en) | 2010-10-20 |
| CN101863038B CN101863038B (en) | 2011-09-14 |
Family
ID=42955059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101912904A Active CN101863038B (en) | 2010-05-28 | 2010-05-28 | Air flotation teleoperation platform based on binocular vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101863038B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192404A (en) * | 2013-04-12 | 2013-07-10 | 安徽埃夫特智能装备有限公司 | Industrial robot vision gripper |
| CN104057467A (en) * | 2014-06-13 | 2014-09-24 | 哈尔滨工业大学 | Air bearing type mechanical arm gravity compensation device based on annular air floating platform |
| CN104552605A (en) * | 2014-12-31 | 2015-04-29 | 三一汽车制造有限公司 | Mixing pump truck for wet-mixed mortar |
| CN104763868A (en) * | 2015-04-22 | 2015-07-08 | 天津航天机电设备研究所 | Height adjustment mechanism for air floatation supporting platform |
| CN108161990A (en) * | 2017-12-30 | 2018-06-15 | 中国科学院沈阳自动化研究所 | A kind of modular extendable space manipulator ground tested |
| CN109799775A (en) * | 2018-12-11 | 2019-05-24 | 清华大学 | A kind of mixing valve atmospheric control based on programmable logic array |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1516815A1 (en) * | 2003-09-17 | 2005-03-23 | EADS Space Transportation GmbH | Device for grasping objects in outer space |
| CN201279777Y (en) * | 2008-09-26 | 2009-07-29 | 郭长青 | Miniature self-service ground robot |
| CN201291457Y (en) * | 2008-11-06 | 2009-08-19 | 苏州工业职业技术学院 | Mechanical arm for carrying |
| WO2009123956A1 (en) * | 2008-03-31 | 2009-10-08 | Abb Research | Robot parts assembly on a workpiece moving on an assembly line |
| CN101698299A (en) * | 2009-10-23 | 2010-04-28 | 清华大学 | Trinocular vision device used for remote operation of floatation mechanical arm |
-
2010
- 2010-05-28 CN CN2010101912904A patent/CN101863038B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1516815A1 (en) * | 2003-09-17 | 2005-03-23 | EADS Space Transportation GmbH | Device for grasping objects in outer space |
| WO2009123956A1 (en) * | 2008-03-31 | 2009-10-08 | Abb Research | Robot parts assembly on a workpiece moving on an assembly line |
| CN201279777Y (en) * | 2008-09-26 | 2009-07-29 | 郭长青 | Miniature self-service ground robot |
| CN201291457Y (en) * | 2008-11-06 | 2009-08-19 | 苏州工业职业技术学院 | Mechanical arm for carrying |
| CN101698299A (en) * | 2009-10-23 | 2010-04-28 | 清华大学 | Trinocular vision device used for remote operation of floatation mechanical arm |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192404A (en) * | 2013-04-12 | 2013-07-10 | 安徽埃夫特智能装备有限公司 | Industrial robot vision gripper |
| CN103192404B (en) * | 2013-04-12 | 2016-01-13 | 安徽埃夫特智能装备有限公司 | Industrial robot vision gripper |
| CN104057467A (en) * | 2014-06-13 | 2014-09-24 | 哈尔滨工业大学 | Air bearing type mechanical arm gravity compensation device based on annular air floating platform |
| CN104552605A (en) * | 2014-12-31 | 2015-04-29 | 三一汽车制造有限公司 | Mixing pump truck for wet-mixed mortar |
| CN104763868A (en) * | 2015-04-22 | 2015-07-08 | 天津航天机电设备研究所 | Height adjustment mechanism for air floatation supporting platform |
| CN104763868B (en) * | 2015-04-22 | 2016-08-17 | 天津航天机电设备研究所 | Air supporting support platform height adjustment mechanism |
| CN108161990A (en) * | 2017-12-30 | 2018-06-15 | 中国科学院沈阳自动化研究所 | A kind of modular extendable space manipulator ground tested |
| CN108161990B (en) * | 2017-12-30 | 2019-05-21 | 中国科学院沈阳自动化研究所 | A kind of modular extendable space manipulator ground tested |
| WO2019128823A1 (en) * | 2017-12-30 | 2019-07-04 | 中国科学院沈阳自动化研究所 | Modularized extensible space manipulator type ground experiment platform |
| CN109799775A (en) * | 2018-12-11 | 2019-05-24 | 清华大学 | A kind of mixing valve atmospheric control based on programmable logic array |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101863038B (en) | 2011-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101863038B (en) | Air flotation teleoperation platform based on binocular vision | |
| CN106882347B (en) | Underwater robot with six degrees of freedom | |
| CN101698299B (en) | Trinocular vision device used for remote operation of floatation mechanical arm | |
| Wang et al. | Development of an underwater manipulator and its free-floating autonomous operation | |
| CN104723318B (en) | Utonomous working robot system | |
| CN207565812U (en) | Binary underwater robot with six degrees of freedom | |
| CN110667845B (en) | Valve screwing-oriented double-arm operation type flying robot system and method | |
| CN109050840A (en) | A kind of novel six freedom positioning underwater robot | |
| CN107097238A (en) | The underwater operation robot and its control method of a kind of migration mixing | |
| CN105108762B (en) | Remote control hand controller based on force/touch guiding | |
| CN108860527B (en) | Underwater robot-underwater mechanical arm system | |
| Guo et al. | Development of an amphibious mother spherical robot used as the carrier for underwater microrobots | |
| CN111599243B (en) | Spacecraft space docking ground control experiment system and method | |
| CN102074144A (en) | Ship position motion test platform | |
| CN111331572A (en) | Snakelike-imitating inspection robot | |
| CN106043630A (en) | Multi-degree-of-freedom underwater robot | |
| CN109500814A (en) | The full dimension ground physical verification system and method for space manipulator varying load situation | |
| CN105225707B (en) | A kind of nuclear power station float assembly with sucker under water | |
| CN101890713A (en) | Active vision-based air floatation teleoperation platform | |
| CN110207619A (en) | The measuring system and method for cooperation mechanical arm are carried based on omni-directional moving platform | |
| CN113148079A (en) | Autonomous navigation mechanical arm for underwater operation | |
| CN111136687B (en) | Underwater robot vision control target grabbing test system and method | |
| CN202807109U (en) | Space target simulation system used for on-orbit service | |
| CN204010705U (en) | A kind of nuclear power station is the float assembly with sucker under water | |
| CN212587046U (en) | Aircraft attitude control simulation training device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |