CN102689313A - High-altitude dangerous environment article clearing system and clearing method based on flying robot - Google Patents
High-altitude dangerous environment article clearing system and clearing method based on flying robot Download PDFInfo
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- CN102689313A CN102689313A CN201210190921XA CN201210190921A CN102689313A CN 102689313 A CN102689313 A CN 102689313A CN 201210190921X A CN201210190921X A CN 201210190921XA CN 201210190921 A CN201210190921 A CN 201210190921A CN 102689313 A CN102689313 A CN 102689313A
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Abstract
The invention relates to the technical field of robots and discloses a high-altitude dangerous environment article clearing system based on a flying robot. The high-altitude dangerous environment article clearing system comprises an article clearing device and a control device, wherein the article clearing device comprises the robot and an image collecting module; the robot comprises a mechanical arm and a mechanical hand on the mechanical arm; the image collecting module is used for collecting images at the periphery of the flying robot; the control device comprises an image receiving module, a remote controller and a control terminal; the image receiving module is connected with the control terminal; the image receiving module is used for receiving image data collected by the image collecting module; the remote controller comprises a flying robot controller and a mechanical arm remote controller; the flying robot controller is used for controlling the flying robot to reach a predetermined work area and controlling the flying robot to approach a target article; and the mechanical arm remote controller is used for controlling the mechanical hand to grab the target article.
Description
Technical field
The present invention relates to a kind of flying robot's technical field, be specifically related to a kind of high-altitude hazardous environment article cleaning system and method for cleaning based on the flying robot.
Background technology
Often occurring the visitor in the scenic spot of physical features hazardous and accidentally article are dropped and can't pick up or arbitrarily shed the rubbish article, all is the specific channel of cliffs and precipices like some high-altitude plank roads or both sides.Above-mentioned phenomenon is ubiquity in some scenic spots of China, because scenic spot visitor's quantity is more, according to media report, the general week cleaning in some highway sections once needs in one week of peak period to clear up twice.To the problems referred to above, adopt at present usually labor cleaning's mode to solve, with rope the staff is sent in the hazardous environment, the staff posts the rope rubbish cleaning on the steep cliff of climbing rocks throughout through waist.This working method operating efficiency is extremely low, and workman's life has been brought bigger threat; Simultaneously, also need many people to cooperate completion simultaneously, economic cost is very high.
In addition, conventional mechanical arm, elevator gear can't arrive these particular surroundings, thereby also can't carry out operation.
Summary of the invention
For remedying above-mentioned defective; The technical problem that the present invention will solve is to propose a kind of high-altitude hazardous environment article cleaning system and method for cleaning thereof based on the flying robot; The staff need not to carry out prune job in the dangerous environment, and expense is low, high efficiency.
In order to achieve the above object, the present invention adopts following technical scheme to be achieved.
Technical scheme one:
A kind of high-altitude hazardous environment article cleaning system based on the flying robot is characterized in that said system comprises article cleaning plant and control device,
Said article cleaning plant comprises flying robot and the image capture module that is installed in the flying robot below, and said flying robot comprises the manipulator on mechanical arm and the mechanical arm; Said image capture module is used to gather said robot image on every side;
Said control device comprises image receiver module, remote controller and control terminal, and said image receiver module is connected with said control terminal, and said image receiver module is used to receive the view data that said image capture module is gathered; Said remote controller comprises flying robot's remote controller and mechanical arm remote controller, and said flying robot's remote controller is used to control robot near target item; Said mechanical arm remote controller is controlled said manipulator and is grabbed target item.
The characteristics of technique scheme are with further improving:
(1), said system also comprises the article collecting vessel that is installed in said flying robot below, keep certain height in said article collecting vessel top and said mechanical arm bottom.
(2), said image capture module is a video camera.
(3), said manipulator is four grasp type manipulators.
(4), said control terminal is a computer.
Technical scheme two:
A kind of hazardous environment article method for cleaning based on the flying robot is the basis with the hazardous environment article cleaning system based on the flying robot, it is characterized in that said method comprises:
The control flying robot arrives predetermined working region, and the control flying robot is near target item; The manipulator of control mechanical arm is an open mode, and the control mechanical arm is constantly near target item; When manipulator touches target object, close machinery and hold in hand and get target item; The control mechanical arm moves to the top of article collecting vessel, and the control manipulator loose is opened, and the article of extracting are fallen into the article collecting vessel.
The characteristics of technique scheme are with further improving:
(1), when grasping, a plurality of target items accomplish or after the article collecting vessel filled, the control robot arrived the precalculated position, manually takes off the article collecting vessel.
(2), before system starts working, assemble, utilize bolt or hinge video camera, mechanical arm and article collecting vessel to be installed on flying robot's below.
The article cleaning plant is based on flying robot's platform building in the cleaning systems of the present invention; Utilize remote control mode operation flying robot to the predetermined work zone; Utilize wireless camera that flying robot's below and peripheral direction are carried out video acquisition; Through the wireless data transmission mode video is transferred to control device and supplies operating personnel's decision-making, operating personnel utilize the operating remote controller mechanical arm to accomplish the extracting function to article.Control device receives the video image that article pick device wireless transmission is returned; And video image shown; Supply the position of the required article that pick up of operating personnel's discriminance analysis in image; Confirm after the position of article that the arm of operating machine of using a teleswitch grasps target item, realize the article clearing function in the hazardous environment.
Technical scheme of the present invention realizes that the flying robot replaces manual work in the hazardous environment of high-altitude, to carry out operation, can guarantee that article pick up or the high efficiency of garbage-cleaning, and investment cost is low.
Description of drawings
Below in conjunction with the accompanying drawing and the specific embodiment technical scheme of the present invention is done further explain.
Fig. 1 is a hazardous environment article cleaning system architecture sketch map in the embodiment of the invention.
The specific embodiment
The main thought of technical scheme of the present invention: hazardous environment article cleaning system comprises article cleaning plant and control device; The article cleaning plant comprises flying robot and the image capture module that is installed in flying robot below, and the flying robot comprises the mechanical arm that is installed in the flying robot below and the manipulator on the mechanical arm; Image capture module is used to gather said flying robot image on every side; Control device comprises image receiver module, remote controller and control terminal, and the image receiver module is connected with control terminal, and the image receiver module is used to receive the view data that image capture module is gathered; Remote controller comprises flying robot's remote controller and mechanical arm remote controller, and flying robot's remote controller is used to control robot near target item; Said mechanical arm remote controller control machinery is held in hand and is got target item.
Specify technical scheme of the present invention below in conjunction with accompanying drawing and embodiment thereof.
Image capture module adopts 360 ° of panoramic cameras, and this video camera is through bolt or be hingedly mounted on flying robot's below, and camera lens is towards the flying robot below.Mechanical arm adopts bolt or is hingedly mounted on flying robot's below, and mechanical arm hangs on flying robot's below after the installation, has manipulator on the mechanical arm.The article collecting vessel is through bolt or the hinged below that is installed on the flying robot.Control device adopts portable work bench, seeks solution space by operating personnel and places.Image receiver module, flying robot's remote controller and mechanical arm remote controller are installed on the workbench of control device.Computer is installed on control centre's workbench, and this computer is connected with the image receiver module.
Operating personnel utilize robot remote control device control flying robot to arrive the predetermined operation zone; 360 ° of panoramic cameras will carry out video acquisition to the space of flying robot below this moment; The video acquisition result sends toward surrounding space through the 2.4G radio; The image receiver module receives from 360 ° of panoramic cameras and gathers the image that sends, and through USB interface video is mail to computer, and computer is real-time display image in screen.
Operating personnel confirm after the target object of required extracting through images displayed in the computer is carried out observation analysis, utilize flying robot's remote controller control robot constantly near target object, are in up to target object within the extracting scope of mechanical arm.The four paws type manipulator that operating personnel utilize mechanical arm remote controller control article to pick up mechanical arm stays open state; And the control mechanical arm is constantly near target object; Touch target object up to four paws type manipulator; This moment, operating personnel utilized the mechanical arm remote controller that four paws type manipulator cuts out, and realized the extracting to target object.
Hazardous environment article method for cleaning based on the flying robot of the present invention, concrete steps are following:
Step 1: the installation of panoramic camera, mechanical arm and article collecting vessel;
Article at first are installed are picked up mechanical arm, utilize bolt or articulated mounting that mechanical arm is fixed in flying robot's below, keep the mechanical arm suspended state.The article collecting vessel after installing, is installed mechanical arm; Utilize bolt or articulated mounting that the article collecting vessel is installed on the flying robot below; With mechanical arm keeping parallelism mode; But keeping certain height in mechanical arm bottom and article collecting vessel top, makes things convenient for mechanical arm that the target item that grasps is placed in the article collecting vessel.After the installation of article collecting vessel 360 ° of panoramic cameras being installed utilizes bolt or articulated mounting that 360 ° of panoramic cameras are fixed in flying robot's below; Keep camera lens to install down, guarantee simultaneously normally to observe flying robot's lower zone, side zones, the motion conditions and the article collecting vessel of mechanical arm through the shooting function.
Step 2: seek and confirm target;
After the relevant device Installation and Debugging were accomplished, operating personnel utilized flying robot's remote controller control robot to arrive predetermined operating area, and the video image that utilizes 360 ° of panoramic cameras to send on the computer is sought target object.Confirm after the object article; Operating personnel utilize flying robot's remote controller control robot constantly near target item; Be in up to target item in the effective working distance of mechanical arm, utilize this moment flying robot's remote controller control robot to keep stable.
Step 3: grasp target object;
Operating personnel utilize manipulator motion remote controller control four paws type manipulator to stay open state; The direction of motion through the adjustment mechanical arm makes mechanical arm constantly near target object; Touch target object up to four paws type manipulator; At this moment, operating personnel close four paws type manipulator through the manipulator motion remote controller, realize the extracting to target object.
Step 4: drop target is to the article collecting vessel;
Utilize four paws type manipulator to grab after the target object; Operating personnel utilize manipulator motion remote controller control manipulator motion; Till four paws type manipulator was positioned at article collecting vessel top, at this moment, operating personnel utilized the mechanical arm remote controller to unclamp four paws type manipulator; Make target item fall in the article collecting vessel, accomplish extracting and put procedure a target object.
Repeat above-mentioned steps two, step 3 and step 4, can realize extracting a plurality of target items.
Step 5: article recycling.
After a plurality of target items extracting completion or article collecting vessel are filled; Operating personnel control the flying robot and arrive the operating personnel position; Operating personnel manually take off the article collecting vessel, and after the article collecting vessel cleaned out, and are contained in the flying robot below again in advance on the installation site.
After recovering the original state of each equipment, repeated execution of steps one is to step 5, and article are thoroughly cleaned out up to predetermined hazardous environment zone.
The present invention also has numerous embodiments, in every case in the spirit of invention and essential scope, any change of being done, is equal to replacement and improves, all within the protection domain of inventing.
Claims (8)
1. the high-altitude hazardous environment article cleaning system based on the flying robot is characterized in that said system comprises article cleaning plant and control device,
Said article cleaning plant comprises flying robot and the image capture module that is installed in the flying robot below, and said robot comprises the manipulator on mechanical arm and the mechanical arm; Said image capture module is used to gather said robot image on every side;
Said control device comprises image receiver module, remote controller and control terminal, and said image receiver module is connected with said control terminal, and said image receiver module is used to receive the view data that said image capture module is gathered; Said remote controller comprises flying robot's remote controller and mechanical arm remote controller, and said flying robot's remote controller is used to control the flying robot near target item; Said mechanical arm remote controller is controlled said manipulator and is grabbed target item.
2. the high-altitude hazardous environment article cleaning system based on the flying robot as claimed in claim 1; It is characterized in that; Said system also comprises the article collecting vessel that is installed in said flying robot below, keeps certain height in said article collecting vessel top and said mechanical arm bottom.
3. the high-altitude hazardous environment article cleaning system based on the flying robot as claimed in claim 1 is characterized in that said image capture module is a video camera.
4. the high-altitude hazardous environment article cleaning system based on the flying robot as claimed in claim 1 is characterized in that said manipulator is four grasp type manipulators.
5. the high-altitude hazardous environment article cleaning system based on the flying robot as claimed in claim 1 is characterized in that said control terminal is a computer.
6. high-altitude hazardous environment article method for cleaning based on the flying robot, described high-altitude hazardous environment article cleaning system based on the flying robot is the basis with claim 1, it is characterized in that said method comprises:
The control flying robot arrives predetermined working region, and the control flying robot is near target item; The manipulator of control mechanical arm is an open mode, and the control mechanical arm is constantly near target item; When manipulator touches target object, close machinery and hold in hand and get target item; The control mechanical arm moves to the top of article collecting vessel, and the control manipulator loose is opened, and the article of extracting are fallen into the article collecting vessel.
7. the high-altitude hazardous environment article method for cleaning based on the flying robot as claimed in claim 6; It is characterized in that; When grasping, a plurality of target items accomplish or after the article collecting vessel filled, the control flying robot arrived the precalculated position, manually takes off the article collecting vessel.
8. the high-altitude hazardous environment article method for cleaning based on the flying robot as claimed in claim 6; It is characterized in that; Before system starts working, assemble, utilize bolt or hinge video camera, mechanical arm and article collecting vessel to be installed on flying robot's below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210190921XA CN102689313A (en) | 2012-06-11 | 2012-06-11 | High-altitude dangerous environment article clearing system and clearing method based on flying robot |
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| CN201210190921XA CN102689313A (en) | 2012-06-11 | 2012-06-11 | High-altitude dangerous environment article clearing system and clearing method based on flying robot |
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| CN104088249A (en) * | 2014-07-18 | 2014-10-08 | 郑州电力高等专科学校 | Scenic spot remote-control flying device for picking up rubbish automatically |
| CN105353770A (en) * | 2015-12-11 | 2016-02-24 | 贵州师范学院 | Garbage searching and picking device and system for dangerous region |
| CN107600843A (en) * | 2017-09-11 | 2018-01-19 | 太仓博轩信息科技有限公司 | A kind of intelligent garbage cleaning car and its control method based on unmanned plane |
| CN110187714A (en) * | 2019-04-22 | 2019-08-30 | 西安电子科技大学 | A kind of rubbish waterborne salvaging control method and system, unmanned plane based on unmanned plane |
| CN110222216A (en) * | 2019-03-27 | 2019-09-10 | 重庆工商大学 | Multifunctional intellectual defence system |
| CN110861065A (en) * | 2019-12-17 | 2020-03-06 | 吉林大学 | Robot for automatically storing and taking books in library and control system and control method thereof |
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| CN110861065A (en) * | 2019-12-17 | 2020-03-06 | 吉林大学 | Robot for automatically storing and taking books in library and control system and control method thereof |
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Application publication date: 20120926 |