CN106041993B - A kind of mechanical arm and its localization method being accurately positioned - Google Patents
A kind of mechanical arm and its localization method being accurately positioned Download PDFInfo
- Publication number
- CN106041993B CN106041993B CN201610590181.7A CN201610590181A CN106041993B CN 106041993 B CN106041993 B CN 106041993B CN 201610590181 A CN201610590181 A CN 201610590181A CN 106041993 B CN106041993 B CN 106041993B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- camera
- optical path
- target object
- visible light
- 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.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000004807 localization Effects 0.000 title claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims description 5
- 238000013459 approach Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical arm and its localization method being accurately positioned, the mechanical arm that can be accurately positioned includes mechanical arm, is installed on the video system of mechanical arm and visible light laser emitter device；The video system includes the camera, transmission of video mechanism and display, and the optical path Center axis of the camera and the Clamping Center line along mechanical arm direction of two clamping jaws of mechanical arm are coaxial；The visible light laser emitter device is installed on other than the camera optical path Center axis and is installed on mechanical arm by the shaft perpendicular to mechanical arm, which can be rotated and be positioned as needed.The present invention realizes that accurate positionin is clamped by being equipped with single video Exact Location System on robot arm, not only target object accurate positioning, but also easy to operate, easy to use.
Description
Technical field
The invention belongs to robot remote control field, specifically a kind of mechanical arm being accurately positioned and its positioning
Method.
Background technology
In the application field of remote-controlled robot, it is frequently encountered remote control robot come the case where carrying out a certain operation,
Such as the processing work that explosive-removal robot carries out unexploded is controlled by long-distance video image.In this work, need to grasp
Unexploded is accurately clamped in the mechanical arm for making personnel's remote control robot first, is then moved to home again.Make
During unexploded is clamped with mechanical arm, operating personnel mainly shoot Transmission system by the wireless video that robot carries and obtain
The location information of unexploded.In the prior art, it needs that multiple video systems are installed in robot, to provide different angle
Photographing information, operator need to watch the relative position that these video informations come comprehensive descision mechanical arm and unexploded, ability simultaneously
Complete this operation.This not only so that system itself is complicated, also more demanding to the space structuring capacity of operator, and first
Scholar, which generally requires the longer training time, can just accomplish.
Invention content
The object of the present invention is to provide a kind of mechanical arms and its localization method that can be accurately positioned easily to operate, to solve
The existing machinery arm problem more demanding to operating personnel.
The invention is realized in this way：
A kind of mechanical arm being accurately positioned, including mechanical arm, be installed on mechanical arm video system and visible light swash
Optical transmitting set；The video system includes camera, transmission of video mechanism and display, the optical path Center axis of the camera with
The Clamping Center line along mechanical arm direction of two clamping jaws of mechanical arm is coaxial；The visible light laser emitter device is installed on described take the photograph
As being installed on mechanical arm other than head optical path Center axis and by the shaft perpendicular to mechanical arm, which can be revolved as needed
Turn and positions.
Under above-mentioned technical proposal, the present invention can be achieved：
The vertical range of the visible light laser emitter device and the camera optical path Center axis is adjusted as needed.
The crosspoint of the optical path Center axis of laser and the camera that the visible light laser emitter device is emitted is located at
In the clamping opening of clamping jaw, and the crosspoint is located on the end face of the front end after object to be held is clamped.
The mechanical arm is telescopic mechanical arm.
The telescopic mechanical arm uses hydraulic stem telescoping mechanism.
Mechanical arm localization method includes the following steps：
A., video system is installed on the robotic arm；The video system includes camera, transmission of video mechanism and display,
The optical path Center axis of the camera and the Clamping Center line along mechanical arm direction of the clamping jaw of mechanical arm are coaxial；
B., visible light laser emitter device is installed on the robotic arm；The visible light laser emitter device is installed on the camera
Other than optical path Center axis；
C. the installation site of adjustment visible light laser emitter device and direction, the laser for making visible light laser emitter device be emitted
And the crosspoint of the optical path Center axis of the camera is located in the clamping opening of the clamping jaw of mechanical arm, and the crosspoint is positioned to be held
On the end face of front end after object is clamped；
D. the image captured by camera judges that the approximate location of target object, operating robotic arm make target object
On the center of display, that is, camera optical path Center axis；
E. operating robotic arm moves along a straight line along camera optical path Center axis direction, target object is gradually approached, until object
When body enters in the clamping opening of clamping jaw, it is seen that the laser that ray laser transmitter is emitted can be produced in the surface of target object front end
Raw laser facula；Direction and the departure degree for deviateing target object center according to the laser facula continue the position for adjusting mechanical arm
It sets, laser facula is made to be located at the center of display；
F. driving clamping jaw is clamped.
In the method for the present invention, telescopic mechanical arm also can be used in mechanical arm, such as installs mechanical arm on the robotic arm
Telescopic rod, easily to carry out the operation that straight line approaches target object.
The present invention realizes accurate positionin clamping by being equipped with single video Exact Location System on robot arm, no
Only target object accurate positioning, and it is easy to operate, it is easy to use.
Description of the drawings
Fig. 1 is the principle of the present invention figure.
Fig. 2 is the structural schematic diagram of mechanical arm telescopic rod in the present invention.
In figure：1, mechanical arm, 2, video system, 3, visible light laser emitter device, 4, clamping jaw, 5, camera, transmission of video
Mechanism 6,7, display, 8, shaft, 9, target object, 10, telescopic rod, 11, hydraulic cylinder, 12, hydraulic stem, 13, oil inlet and outlet.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings, but the explanation is not to the mechanical arm and localization method of the present invention
Constitute any restrictions.
Video system and visible light laser emitter device are installed on the robotic arm according to the following steps first：
The end set of mechanical arm 1 has clamping jaw 4, optionally may also include mechanical arm telescopic rod 10.Video system 2 includes taking the photograph
As head 5, transmission of video mechanism 6 and display 7.Transmission of video mechanism 6 in figure is line transmission system, to simplify structure, depending on
Keeping pouring in transfer mechanism, it is preferable to use wireless transmitting systems.Camera 5 is mounted on mechanical arm 1, the optical path Center axis and machine of camera 5
The Clamping Center line along mechanical arm direction of the clamping jaw of tool arm is coaxial.Camera 5 can both be installed on mechanical arm as shown in Figure 1
Rear portion can also be installed on the front of mechanical arm, and the advantage for being installed on front is, with closer, the shelter of target object distance
It is less, be more convenient for capture and imaging.Visible light laser emitter device 3 is also mounted on mechanical arm 1, but its installation site is located at camera shooting
Other than head optical path Center axis, so that emitted laser can be after camera imaging in display after suitable position generates hot spot
Middle display.Visible light laser emitter device 3 is installed on mechanical arm by the shaft 8 perpendicular to mechanical arm, which can be as needed
It is rotated and is positioned.Visible light laser emitter device 3 is rotated along shaft 8, until the laser that is emitted of visible light laser emitter device 3 with
The crosspoint of the optical path Center axis of the camera is located in the clamping opening of clamping jaw, and the crosspoint is located at object to be held and is clamped
When on the end face of front end afterwards, shaft is positioned.Angle between visible light laser emitter device 3 and camera optical path Center axis
The size of α is related away from the vertical range of camera optical path Center axis to visible light laser emitter device 3, when the distance is certain
When, the size of the angle α determines substantially, it is only necessary to which its front end face determined by the length according to target object is located in clamping opening not
With position be finely adjusted.
In the present invention, it can will be seen that the installation settings of ray laser transmitter is that installation site is adjustable, it as a result, can be as needed
The vertical range being adjusted between visible light laser emitter device and camera optical path Center axis.It, can also will be mechanical in the present invention
Arm is set as telescopic mechanical arm, to carry out the operation that straight line approaches target.Telescopic mechanical arm may be used existing
The various structures that may be implemented in technology, a kind of achievable embodiment are as shown in Fig. 2, telescopic mechanical arm uses liquid
Compression bar telescoping mechanism.As shown in Fig. 2, telescopic mechanical arm is to install telescopic rod 10 additional on the robotic arm.Telescopic rod 10 is by hydraulic pressure
Cylinder 11, hydraulic stem 12, oil inlet and outlet 13 form.
Secondly it operates according to the following steps：
Image captured by camera judges that the approximate location of target object 9, operating robotic arm 1 make target object
On the 5 optical path Center axis of center, that is, camera of display 7.Operating robotic arm 1 is straight along camera optical path Center axis direction
Line moves, and target object 9 is gradually approached, until when target object enters in the clamping opening of clamping jaw, it is seen that ray laser transmitter 3 is emitted
Laser can in the surface of 9 front end of target object generate laser facula；Deviate target object center according to the laser facula
Direction and departure degree, continue adjust mechanical arm position, so that laser facula is located at the center of display 7.Drive clamping jaw
It carries out that the accurate clamping that can be realized to target object 9 is clamped.
Claims (1)
1. a kind of mechanical arm localization method, which is characterized in that include the following steps：
A., video system is installed on the robotic arm；The video system includes camera, transmission of video mechanism and display, institute
The Clamping Center line along mechanical arm direction of the optical path Center axis for stating camera and the clamping jaw of mechanical arm is coaxial；
B., visible light laser emitter device is installed on the robotic arm；The visible light laser emitter device is installed on the camera light
Other than Lu Zhizheng axis；
C. the installation site of adjustment visible light laser emitter device and direction, make laser that visible light laser emitter device emitted with
The crosspoint of the optical path Center axis of the camera is located in the clamping opening of the clamping jaw of mechanical arm, and the crosspoint is located at object to be held
On the end face of front end after body is clamped；
D. the image captured by camera judges that the approximate location of target object, operating robotic arm make object position
In on the center of display, that is, camera optical path Center axis；
E. operating robotic arm along camera optical path Center axis direction move along a straight line, gradually approach target object, until target object into
When entering in the clamping opening of clamping jaw, it is seen that the laser that ray laser transmitter is emitted can be generated in the surface of target object front end to swash
Light hot spot；Direction and the departure degree for deviateing target object center according to the laser facula continue the position for adjusting mechanical arm, make
Laser facula is located at the center of display；
F. driving clamping jaw is clamped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610590181.7A CN106041993B (en) | 2016-07-26 | 2016-07-26 | A kind of mechanical arm and its localization method being accurately positioned |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610590181.7A CN106041993B (en) | 2016-07-26 | 2016-07-26 | A kind of mechanical arm and its localization method being accurately positioned |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041993A CN106041993A (en) | 2016-10-26 |
| CN106041993B true CN106041993B (en) | 2018-08-31 |
Family
ID=57418208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610590181.7A Expired - Fee Related CN106041993B (en) | 2016-07-26 | 2016-07-26 | A kind of mechanical arm and its localization method being accurately positioned |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106041993B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393072A (en) * | 2016-11-16 | 2017-02-15 | 安曼博珠宝控股有限公司 | Jewelry chain bead automatic-grabbing and reverse-rotating manipulator |
| CN109454661A (en) * | 2018-11-28 | 2019-03-12 | 昆山源博信予智能装备有限公司 | A kind of clamping device and its application method for truss |
| CN109666969B (en) * | 2019-03-01 | 2023-09-19 | 洛阳德晶智能科技有限公司 | Centering device for single crystal furnace during clamping of crystal bars and use method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104079868A (en) * | 2013-03-29 | 2014-10-01 | 中原工学院 | Laser-assisted distance measuring device and method for single-sight-point video monitoring |
| CN104858869A (en) * | 2015-05-05 | 2015-08-26 | 上海大学 | Portable mechanical arm with function of accurately positioning object |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60231208A (en) * | 1984-05-01 | 1985-11-16 | Nippon Telegr & Teleph Corp <Ntt> | Control method of automatic machine |
| WO2003069267A1 (en) * | 2002-02-14 | 2003-08-21 | Faro Technologies, Inc. | Portable coordinate measurement machine with articulated arm |
| US8127458B1 (en) * | 2010-08-31 | 2012-03-06 | Hexagon Metrology, Inc. | Mounting apparatus for articulated arm laser scanner |
| CN103271784B (en) * | 2013-06-06 | 2015-06-10 | 山东科技大学 | Man-machine interactive manipulator control system and method based on binocular vision |
| CN204414117U (en) * | 2014-12-08 | 2015-06-24 | 湖北汽车工业学院 | A kind of vision positioning welding machine people |
-
2016
- 2016-07-26 CN CN201610590181.7A patent/CN106041993B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104079868A (en) * | 2013-03-29 | 2014-10-01 | 中原工学院 | Laser-assisted distance measuring device and method for single-sight-point video monitoring |
| CN104858869A (en) * | 2015-05-05 | 2015-08-26 | 上海大学 | Portable mechanical arm with function of accurately positioning object |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106041993A (en) | 2016-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106041993B (en) | A kind of mechanical arm and its localization method being accurately positioned | |
| TWI694686B (en) | Underwater wireless communication apparatus and communication method thereof | |
| US9545719B2 (en) | Teaching device and method for robotic arm | |
| CN103522291A (en) | Target capturing system and method of explosive ordnance disposal robot | |
| CN203557388U (en) | Target pose obtaining mechanism target grabbing system of explosive-handling robot | |
| EP1462993A3 (en) | Automatic work apparatus and automatic work control program | |
| CN102445329B (en) | Rapid determining method for optical axis of continuous zoom lens | |
| CN107718046A (en) | For the robot of Underwater Welding, robot system and operational method | |
| JP2015501118A5 (en) | ||
| JP2014124765A (en) | Automatic thread fastening device | |
| CN109048305A (en) | Beat screw system | |
| CN111487610A (en) | Crane, positioning system and positioning method for hoisting operation of crane, and storage medium | |
| CN109807472A (en) | It is a kind of can remote control laser cutting device | |
| CN108924419A (en) | A kind of unmanned plane camera shooting Zoom control system of transmission line-oriented inspection | |
| CN107896326A (en) | Binocular solid camera automatic leveling equipment, its levelling control system and control method | |
| JP2020075325A (en) | Tool center point setting method and setting device | |
| KR101847829B1 (en) | Moving target apparatus for zero point | |
| CN111283685A (en) | Vision teaching method of robot based on vision system | |
| CN205905052U (en) | Install in accurate positioning system of single video of arm and arm that can accurate crowded glue | |
| CN211047019U (en) | Multi-angle image acquisition system | |
| CN209460460U (en) | A kind of WDM high-precision is to Light coupling devices | |
| TWI663879B (en) | Automatic Panning Shot System and Automatic Panning Shot Method | |
| CN111699077B (en) | Vision-based operation for robots | |
| KR101218404B1 (en) | Self-adjustment device of monitor camera using for industry | |
| KR100730386B1 (en) | Movement manipulator operation autometic perception vision robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180831 |