CN105215972A - A kind of orcible entry robot eye coordinate positioner and method - Google Patents

A kind of orcible entry robot eye coordinate positioner and method Download PDF

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CN105215972A
CN105215972A CN201510594452.1A CN201510594452A CN105215972A CN 105215972 A CN105215972 A CN 105215972A CN 201510594452 A CN201510594452 A CN 201510594452A CN 105215972 A CN105215972 A CN 105215972A
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sinθ
cosθ
mechanical arm
vehicle
range sensor
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赵江海
何锋
章小建
李岩峰
方健
朱洪波
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Hefei Institutes of Physical Science of CAS
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Hefei Institutes of Physical Science of CAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/06—Manipulators combined with a control cab for the operator
    • 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

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention discloses a kind of orcible entry robot eye coordinate positioner and method, described device is made up of multi-joint hydraulic driving machine mechanical arm, laser range sensor, CAN controller, vehicle-mounted computer; Described laser range sensor is arranged on the end effector of multi-joint hydraulic driving machine mechanical arm, and described laser range sensor realizes information interaction by CAN controller and vehicle-mounted computer; Described method comprises: 1) range information of collection is sent to vehicle-mounted computer by CAN by laser range sensor; 2) after vehicle-mounted computer processes the range information received, then send the speed drive singal of Hydraulic Elements by CAN and order about multi-joint hydraulic driving machine mechanical arm and move to intended target position, complete mechanical arm and automatically locate and motion control.The present invention effectively improves aimed at precision and the operating efficiency of the orcible entry operation of orcible entry robot.

Description

A kind of orcible entry robot eye coordinate positioner and method
Technical field
The present invention relates to robot localization technology, specifically a kind of orcible entry robot eye coordinate positioner and method.
Background technology
When facing the disaster such as earthquake, mud-rock flow, need promptly to carry out rescue and reduce personnel and property loss as far as possible, therefore the emergent rescue capability improved after shake is of crucial importance, and the safe emergency disaster relief equipment for disaster field is also one of the development priority of China's mechanical industry in " 12 " period.
The Toshiba, Mitsubishi etc. of Japan have carried out the robot for dangerous onsite moving operation in succession, the weight of about 5kg can be carried by Smart-M robot as Toshiba's research and development, the Swan robot of Mitsubishi development has landform adaptive capacity, and can carry the medium load of about 10kg.But these orcible entry robots generally all adopt the artificial manual mode of operation of remote controller to carry out orcible entry operation, and under environment complicated and dangerous at the scene, bring very large threat to operator's personal safety.For document " orcible entry rescue robot key technology " (Liu Qingyun. " modern Manufacturing Engineering ", 2009,30 (7), pp.149 ~ 153.) in following orcible entry robot proposed function have intelligence orcible entry operation, real-time motion planning, the key technologies such as sensing and target identification, the device and method that the present invention proposes can solve operative goals location and the mechanical arm autokinetic movement function of traditional orcible entry robot existence, fills up the blank of orcible entry intelligent robot orcible entry operation function application.
Summary of the invention
The object of the present invention is to provide a kind of orcible entry robot eye coordinate positioner and method, solve orcible entry robot operative goals orientation problem.
For achieving the above object, the invention provides following technical scheme:
A kind of orcible entry robot eye coordinate positioner, is made up of multi-joint hydraulic driving machine mechanical arm, laser range sensor, CAN controller, vehicle-mounted computer; Described laser range sensor is arranged on the end effector of multi-joint hydraulic driving machine mechanical arm, and described laser range sensor realizes information interaction by CAN controller and vehicle-mounted computer.
As the further scheme of the present invention: what described laser range sensor adopted is SICKLMS151 laser range sensor.
As the further scheme of the present invention: what described CAN controller adopted is PEAK-USBCAN bus control unit.
As the further scheme of the present invention: what described vehicle-mounted computer adopted is TREK-753 vehicle-mounted computer.
The method utilizing described orcible entry robot eye coordinate positioner to position, comprises the following steps:
1) range information of collection is sent to vehicle-mounted computer by CAN by laser range sensor;
2) after vehicle-mounted computer processes the range information received, then send the speed drive singal of Hydraulic Elements by CAN and order about multi-joint hydraulic driving machine mechanical arm and move to intended target position, complete mechanical arm and automatically locate and motion control.
As the further scheme of the present invention: described step 2) in, vehicle-mounted computer processes the range information received by calling the automatic motion control arithmetic of mechanical arm, specifically comprises the following steps:
21) by red for the laser range sensor laser on the end effector setting aimed at for orcible entry;
22) the laser distance value of acquisition is transferred under end effector coordinate by homogeneous transform matrix;
23) coordinate under end effector transferred to coordinate under basis coordinates system by connecting rod transformation matrix;
24) according to each joint angle angle that inverse kinematics equation is obtained;
25) by moving to hydraulic pressure execution unit transmission speed signal driving mechanical arm.
As the further scheme of the present invention: the laser light emitting method being arranged on the laser range sensor on the end effector of multi-joint hydraulic driving machine mechanical arm is consistent with a certain change in coordinate axis direction of end effector.
Compared with prior art, the invention has the beneficial effects as follows:
1, a kind of orcible entry of exploitation robot eye target locating set, effectively can meet the needs that robot carries out accurate operation location in the presence of a harsh environment.
2, the orcible entry robot hydraulic component that design depends on trick target locating set drives multi-joint mechanical arm autokinetic movement control algolithm to solve the manual slow movement of existing remote controller and setting looks for inaccurate problem.
Accompanying drawing explanation
Fig. 1 is the structural representation of positioner of the present invention;
Fig. 2 is the schematic diagram of embodiment;
Fig. 3 is orcible entry robot multi-joint mechanical arm link rod coordinate system layout;
Fig. 4 is the flow chart of localization method of the present invention;
Fig. 5 is the flow chart of the automatic motion control arithmetic of mechanical arm;
In figure: 1-multi-joint hydraulic driving machine mechanical arm, 2-laser range sensor, 3-CAN bus control unit, 4-vehicle-mounted computer.
Detailed description of the invention
Below in conjunction with the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1 ~ 2, in the embodiment of the present invention, a kind of orcible entry robot eye coordinate positioner, is made up of multi-joint hydraulic driving machine mechanical arm 1, laser range sensor 2, CAN controller 3, vehicle-mounted computer 4; Laser range sensor 2 is arranged on the end effector of multi-joint hydraulic driving machine mechanical arm 1, its laser light emitting method is consistent with a certain change in coordinate axis direction of end effector, the range information of collection is sent to vehicle-mounted computer by CAN by laser range sensor 2, call mechanical arm autokinetic movement control algolithm further by vehicle-mounted computer to be for further processing, finally order about multi-joint hydraulic driving machine mechanical arm 1 by vehicle-mounted computer 4 by the speed drive singal of CAN transmission Hydraulic Elements and move to intended target position, complete mechanical arm and automatically locate and motion control.The control principle of positioner is as follows: carry monopod video camera by orcible entry robot, observe on-the-spot picture, control end effector by remote controller and aim at orcible entry target, laser range sensor 2 obtains the distance of orcible entry target and passes vehicle-mounted computer 4 back by CAN, the data such as laser distance information, mechanical arm current pose, hydraulic cylinder effective exercise scope are substituted into mechanical arm autokinetic movement control algolithm by vehicle-mounted computer 4, and driving machine mechanical arm is moved.
What multi-joint hydraulic driving machine mechanical arm 1 adopted is 5 joint hydraulic driving machine mechanical arm, what laser range sensor 2 adopted is SICKLMS151 laser range sensor, what CAN controller 3 adopted is PEAK-USBCAN bus control unit, and what vehicle-mounted computer 4 adopted is TREK-753 vehicle-mounted computer.
Refer to Fig. 4, a kind of method utilizing described orcible entry robot eye coordinate positioner to position, comprises the following steps:
1) range information of collection is sent to vehicle-mounted computer (4) by CAN by laser range sensor (2);
2) after vehicle-mounted computer (4) processes the range information received, order about multi-joint hydraulic driving machine mechanical arm (1) by the speed drive singal of CAN transmission Hydraulic Elements again and move to intended target position, complete mechanical arm and automatically locate and motion control.
Above-mentioned steps 2) in, vehicle-mounted computer (4) processes the range information received by calling the automatic motion control arithmetic of mechanical arm, specifically comprises the following steps:
21) by red for laser range sensor (2) laser on the end effector setting aimed at for orcible entry;
22) the laser distance value of acquisition is transferred under end effector coordinate by homogeneous transform matrix;
23) coordinate under end effector transferred to coordinate under basis coordinates system by connecting rod transformation matrix;
24) according to each joint angle angle that inverse kinematics equation is obtained;
25) by moving to hydraulic pressure execution unit transmission speed signal driving mechanical arm.
Refer to Fig. 3 and 5, mechanical arm autokinetic movement control algolithm, step is:
Algorithm steps is:
Operative goals distance is transferred to three-dimensional coordinate under end effector coordinate system by the transition matrix of the laser range sensor 21, measured according to positioner between end effector installation site.Laser range sensor 2 is arranged on the Y-axis initial point of end effector coordinate system, laser instrument transmit direction is consistent with Y-axis forward, the reading of present laser distance measuring sensor 2 is d rice, then operative goals is at Five Axis system (joint 5 coordinate system, i.e. end effector coordinate system) under coordinate represent then for [0, d, 0].
2, the target object coordinate under LDMS is obtained by the homogeneous transform matrix calculations between basis coordinates system and end effector coordinate system.The homogeneous transform matrix of the relative basis coordinates system (joint 1 coordinate system) of end effector coordinate system (joint 5 coordinate system) is r 11 r 12 r 13 p x r 21 r 22 r 23 p y r 31 r 32 r 33 P z 0 0 0 1 , Wherein r 11=cos θ 5* (cos θ 4* (cos θ 1* cos θ 2* cos θ 3-cos θ 1' * sin θ 2* sin θ 3)-sin θ 4* (cos θ 1* cos θ 2* sin θ 3+ cos θ 1* cos θ 3* sin θ 2))-sin θ 5* (cos θ 4* (cos θ 1* cos θ 2* sin θ 3+ cos θ 1* cos θ 3* sin θ 2)+sin θ 4* (cos θ 1* cos θ 2* cos θ 3-cos θ 1* sin θ 2* sin θ 3));
r 12＝-cosθ 5*(cosθ 4*(cosθ 1*cosθ 2*sinθ 3+cosθ 1*cosθ 3*sinθ 2)+sinθ 4*(cosθ 1*cosθ 2*cosθ 3-cosθ 1*sinθ 2*sinθ 3))-sinθ 5*(cosθ 4*(cosθ 1*cosθ 2*cosθ 3-cosθ 1*sinθ 2*sinθ 3)-sinθ 4*(cosθ 1*cosθ 2*sinθ 3+cosθ 1*cosθ 3*sinθ 2))；
r 13＝-sinθ 1；
r 21＝cosθ 5*(cosθ 4*(cosθ 2*cosθ 3*sinθ 1-sinθ 1*sinθ 2*sinθ 3)-sinθ 4*(cosθ 2*sinθ 1*sinθ 3+cosθ 3*sinθ 1*sinθ 2))-sinθ 5*(cosθ 4*(cosθ 2*sinθ 1*sinθ 3+cosθ 3*sinθ 1*sinθ 2)+sinθ 4*(cosθ 2*cosθ 3*sinθ 1-sinθ 1*sinθ 2*sinθ 3))；
r 22＝-cosθ 5*(cosθ 4*(cosθ 2*sinθ 1*sinθ 3+cosθ 3*sinθ 1*sinθ 2)+sinθ 4*(cosθ 2*cosθ 3*sinθ 1-sinθ 1*sinθ 2*sinθ 3))-sinθ 5*(cosθ 4*(cosθ 2*cosθ 3*sinθ 1-sinθ 1*sinθ 2*sinθ 3)-sinθ 4*(cosθ 2*sinθ 1*sinθ 3+cosθ 3*sinθ 1*sinθ 2))；
r 23＝cosθ 1；
r 31＝-cosθ 5*(cosθ 4*(cosθ 2*sinθ 3+cosθ 3*sinθ 2)+sinθ 4*(cosθ 2*cosθ 2-sinθ 2*sinθ 3))-sx5*(cosθ 4*(cosθ 2*cosθ 3-sinθ 2*sinθ 3)-sinθ 4*(cosθ 2*sinθ 3+cosθ 3*sinθ 2))；
r 32＝sinθ 5*(cosθ 4*(cosθ 2*sinθ 3+cosθ 2*sinθ 2)+sinθ 4*(cosθ 2*cosθ 3-sinθ 2*sinθ 3))-cosθ 5*(cosθ 4*(cosθ 2*cosθ 3-sinθ 2*sinθ 3)-sinθ 4*(cosθ 2*sinθ 3+cosθ 3*sinθ 2))；
r 33＝0；
p x＝cosθ 1*L1-L2*sinθ 1-L3*sinθ 1-L4*sinθ 1；
p y＝cosθ 1*L2+cosθ 1*L3+cosθ 1*L4+L1*sinθ 1；
p z＝0；
Wherein θ 1, θ 2, θ 3, θ 4, θ 5be respectively the joint angle in joint 1, joint 2, joint 3, joint 4, joint 5, L1, L2, L3, L4 are respectively the air line distance in joint 1 and joint 2, joint 2 and joint 3, joint 3 and joint 4, joint 4 and joint 5.
Can obtain the coordinate [x, y, z] of impact point under the first coordinate system (joint 1 coordinate system, i.e. basis coordinates system) by homogeneous transform matrix is:
x＝d*(cosθ 5*(cosθ 4*(cosθ 2*cosθ 3*sinθ 1-sinθ 1*sinθ 2*sinθ 3)-sinθ 4*(cosθ 2*sinθ 1*sinθ 3+cosθ 3*sinθ 1*sinθ 2))-sinθ 5*(cosθ 4*(cosθ 2*sinθ 1*sinθ 3+cosθ 3*sinθ 1*sinθ 2)+sinθ 4*(cosθ 2*cosθ 3*sinθ 1-sinθ 1*sinθ 2*sinθ 2)))；
y＝-d*(cosθ 5*(cosθ 4*(cosθ 2*sinθ 1*sinθ 3+cosθ 3*sinθ 1*sinθ 2)+sinθ 4*(cosθ 2*cosθ 3*sinθ 1-sinθ 1*sinθ 2*sinθ 3))+sinθ 5*(cosθ 4*(cosθ 2*cosθ 3*sinθ 1-sinθ 1*sinθ 2*sinθ 3)-sinθ 4*(ccosθ 2sinθ 1*sinθ 3+cosθ 3*sinθ 1*sinθ 2)))；
z＝cosθ 1*d；
By Inverse Kinematics Solution, the end effector pose of the coordinate of ground point under the first coordinate system and setting is converted to the angle value of five joint angle θ of 5 joint hydraulic driving machine mechanical arm 1, if pose value is nz, inverse process of solving an equation is as follows: for joint 4,
θ 4get any one value of joint angle limited range, can obtain
Obtain θ 1 = tan - 1 y x ;
If ks3=is (x 2+ y 2+ z 2-2*L1* (x*cos θ 1+ y*sin θ 1)+L1 2-L2 2-L3 2-L4 2-2*cos θ 4* L3*L4)/(2*L2);
If rx=L4*sin is θ 4;
If ry=L3+L4*cos is θ 4;
When meeting rx 2+ ry 2-ks3 2when>=0, other residue joint angle value can be obtained:
If t d = x 2 + y 2 - k s 3 2 ;
Obtain θ 3 = tan - 1 y x - tan - 1 k y 3 t d ;
If
s23＝-(L3*z+L1*(L2*sinθ 3-L4*sinθ 4)-cosθ 1*(L2*x*sinθ 3-L4*x*sinθ 4)-sinθ 1*(L2*y*sinθ 3-L4*y*sinθ 4)+L2*z*cosθ 3+L4*z*cosθ 4)/(L1 2-2*L1*x*cosθ 1-2*L1*y*sinθ 1+(x*cosθ 1+y*sinθ 1) 2+z 2)
C23＝-(L1*L3-L2*z*sinθ 3+L4*z*sinθ 4-x*cosθ 1*(L3+L2*cosθ 3+L4*cosθ 4)-y*sinθ 1*(L3+L2*cosθ 3+ L4*cosθ 4)+L1*L2*cosθ 3+L1*L4*cosθ 4)/(L1 2-2*L1*x*cosθ 1-2*L1*y*sinθ 1+(x*cosθ 1+y*sinθ 1) 2+z 2)；
Obtain θ 2 = tan - 1 s 23 c 23 ;
Obtain θ 5=sin -1(-nz)-θ 2-θ 3-θ 4;
Verify the solution of five joint angles, if meet respective joint angle restrictive condition, then weighting can be taked to judge to obtain only optimal solution, and weighting judgment formula is as follows:
If each joint angle of mechanical arm initial attitude is IA0, IA1, IA2, IA3, IA4; Each joint weighted value summation is 1, and the weight being distributed in each joint is followed successively by W0, W1, W2, W3, W4; Weighted sum sum=w0*| θ can be obtained 1-IA0|+W1*| θ 2-IA1|+W2*| θ 3-IA2|+W3*| θ 4-IA3|+W4*| θ 5-IA4|; For multiple different weighted sum, get minimum weight and respectively solve joint angle as the inverse last solution separated.
Compared with prior art, the present invention has the following advantages:
1, a kind of orcible entry of exploitation robot eye target locating set, effectively can meet the needs that robot carries out accurate operation location in the presence of a harsh environment.
2, the orcible entry robot hydraulic component that design depends on trick target locating set drives multi-joint mechanical arm autokinetic movement control algolithm to solve the manual slow movement of existing remote controller and setting looks for inaccurate problem.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.

Claims (7)

1. tear down a robot eye coordinate positioner, it is characterized in that, be made up of multi-joint hydraulic driving machine mechanical arm, laser range sensor, CAN controller, vehicle-mounted computer; Described laser range sensor is arranged on the end effector of multi-joint hydraulic driving machine mechanical arm, and described laser range sensor realizes information interaction by CAN controller and vehicle-mounted computer.
2. orcible entry robot eye coordinate positioner according to claim 1, is characterized in that, what described laser range sensor adopted is SICKLMS151 laser range sensor.
3. orcible entry robot eye coordinate positioner according to claim 1, is characterized in that, what described CAN controller adopted is PEAK-USBCAN bus control unit.
4. orcible entry robot eye coordinate positioner according to claim 1, is characterized in that, what described vehicle-mounted computer adopted is TREK-753 vehicle-mounted computer.
5. the method utilizing the arbitrary described orcible entry robot eye coordinate positioner of claim 1-4 to position, is characterized in that, comprise the following steps:
1) range information of collection is sent to vehicle-mounted computer by CAN by laser range sensor;
2) after vehicle-mounted computer processes the range information received, then send the speed drive singal of Hydraulic Elements by CAN and order about multi-joint hydraulic driving machine mechanical arm and move to intended target position, complete mechanical arm and automatically locate and motion control.
6. the method utilizing orcible entry robot eye coordinate positioner to position according to claim 5, it is characterized in that, described step 2) in, vehicle-mounted computer processes the range information received by calling the automatic motion control arithmetic of mechanical arm, specifically comprises the following steps:
21) by red for the laser range sensor laser on the end effector setting aimed at for orcible entry;
22) the laser distance value of acquisition is transferred under end effector coordinate by homogeneous transform matrix;
23) coordinate under end effector transferred to coordinate under basis coordinates system by connecting rod transformation matrix;
24) according to each joint angle angle that inverse kinematics equation is obtained;
25) by moving to hydraulic pressure execution unit transmission speed signal driving mechanical arm.
7. according to the method that claim 5-6 arbitrary described utilization orcible entry robot eye coordinate positioner positions, it is characterized in that, the laser light emitting method being arranged on the laser range sensor on the end effector of multi-joint hydraulic driving machine mechanical arm is consistent with a certain change in coordinate axis direction of end effector.
CN201510594452.1A 2015-09-18 2015-09-18 A kind of orcible entry robot eye coordinate positioner and method Pending CN105215972A (en)

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CN111051012B (en) * 2016-07-15 2024-02-02 快砖知识产权私人有限公司 Robot arm kinematics for end effector control
CN106493742A (en) * 2016-12-14 2017-03-15 中国科学院合肥物质科学研究院 A kind of flexible probe for being applied to rescue robot
CN106493742B (en) * 2016-12-14 2018-09-28 中国科学院合肥物质科学研究院 A kind of flexible probe applied to rescue robot
CN109397266A (en) * 2018-11-13 2019-03-01 上海智殷自动化科技有限公司 A kind of teaching machine device by visual programming
CN109397266B (en) * 2018-11-13 2024-03-15 上海智殷自动化科技有限公司 Demonstrator device through visual programming
CN110549341A (en) * 2019-09-24 2019-12-10 山东省智能机器人应用技术研究院 industrial robot coordinate positioning system and method
CN111360832A (en) * 2020-03-18 2020-07-03 南华大学 Method for improving remote butt joint precision of break-in robot tail end tool
CN111360832B (en) * 2020-03-18 2021-04-20 南华大学 Method for improving remote butt joint precision of break-in robot tail end tool

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