CN107121988A - A kind of mechanical arm captures the mode of unmanned machine battery - Google Patents
A kind of mechanical arm captures the mode of unmanned machine battery Download PDFInfo
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- CN107121988A CN107121988A CN201710548520.XA CN201710548520A CN107121988A CN 107121988 A CN107121988 A CN 107121988A CN 201710548520 A CN201710548520 A CN 201710548520A CN 107121988 A CN107121988 A CN 107121988A
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- 238000012545 processing Methods 0.000 claims abstract description 35
- 230000004807 localization Effects 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 208000035473 Communicable disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the mode that a kind of mechanical arm captures unmanned machine battery, including vision collecting module, ranging localization module, data processing module, control signal output module, handgrip drive module, mechanical arm control module, avoidance module and alarm module, it is electrically connected with each other between data processing module and vision collecting module, data processing module is electrically connected with ranging localization module, control signal output module is electrically connected with the present invention with handgrip drive module and mechanical arm control module respectively can quickly realize the crawl and replacing of unmanned machine battery, cost is low, precision is high, it is flexibly convenient, it is time saving and energy saving, operating efficiency is high.
Description
Technical field
The present invention relates to workpiece grabbing technical field, specifically a kind of mechanical arm captures the mode of unmanned machine battery.
Background technology
Referred to as " unmanned plane ", unmanned plane is to utilize radio robot and the programme-control provided for oneself dress to UAV
The not manned aircraft of manipulation is put, or fully or is intermittently independently operated by car-mounted computer.Unmanned plane presses application field,
Can be divided into it is military with it is civilian.Military aspect, unmanned plane is divided into reconnaissance plane and target drone.At present taking photo by plane, agricultural, plant protection, it is miniature oneself
Bat, express transportation, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, video display
The application in romance etc. field is shot, manufactured, the purposes of unmanned plane in itself has greatly been expanded.
In the sixties in last century, the correlation technique of robot application has become major colleges and universities and enterprises and institutions
Research emphasis.In the early stage of development, robot mainly in the environment of structuring, helps people to complete according to specific pattern
The dangerous or higher simple work of repeatability.But, the raising of development and people mouthful normal living needs with technology, machine
Device people is faced with the challenge of some problems such as unstructured, complication.With the development of computer technology and control technology, machine
The intelligent level more and more higher of device people, can autonomously carry out a few thing in non-structured environment, can recognize that
Target object, can reach the region where target object after positioning, capture target object.
Crawl operation of the mechanical arm to unmanned machine battery in the prior art, has that efficiency is low, and accuracy is low, and cost is high,
Using it is dumb the shortcomings of.
The content of the invention
It is an object of the invention to provide the mode that a kind of mechanical arm captures unmanned machine battery, to solve above-mentioned background technology
The problem of middle proposition.
To achieve the above object, the present invention provides following technical scheme：
A kind of mechanical arm captures the mode of unmanned machine battery, including vision collecting module, ranging localization module, data processing
Module, control signal output module, handgrip drive module, mechanical arm control module, avoidance module and alarm module, the data
It is electrically connected with each other between processing module and vision collecting module；The data processing module is electrically connected with ranging localization module；
The control signal output module is electrically connected with handgrip drive module and mechanical arm control module respectively.
It is used as further scheme of the invention：The vision collecting module includes video camera, and video camera is arranged on mechanical arm
On, video camera shoots image within the vision, and image information sends data processing module to, and data processing module is believed image
Breath is analyzed and processed, and data processing module sends control command to control signal output module by network or serial ports.
It is used as further scheme of the invention：The control signal output module receives the control from data processing module
It is integrated after order, control signal output module independently controls handgrip drive module and mechanical arm control module
Start.
It is used as further scheme of the invention：The data processing module is also electrically connected with alarm module.
It is used as further scheme of the invention：Avoidance module is electrically connected with the mechanical arm control module.
A kind of mechanical arm captures the mode of unmanned machine battery, comprises the following steps：
S1：Parameter calibration is carried out to video camera and mechanical arm, the coordinate relation of video camera and mechanical arm is set up；
S2：Target workpiece is identified, target workpiece is not in the visual field, and data processing module sends control instruction to control
To mechanical arm control module control command, mechanical arm control module control occur for signal output module processed, control signal output module
Mechanical arm movement processed, makes target workpiece in the visual field；
S3：Target workpiece determines the coordinate of target workpiece in the visual field；
S4：Judge whether target workpiece is located at the underface of handgrip, target workpiece is not in the underface of handgrip, data processing
Module sends control instruction to control signal output module, and to mechanical arm control module control life occurs for control signal output module
Order, mechanical arm control module control machinery arm movement, makes handgrip be located at the surface of target workpiece；
S5：Target workpiece is in the underface of handgrip, and data processing module sends control instruction to control signal output module,
To handgrip drive module control command occurs for control signal output module, and handgrip drive module drives handgrip to carry out target workpiece
Crawl, so as to complete the replacing of target workpiece.
S6：In mechanical arm moving process, according to avoidance module avoiding barrier, on the premise of avoidance Module Fail, machine
Barrier is touched in tool arm moving process, alarm module sends alarm signal.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention is the mode that a kind of mechanical arm captures unmanned machine battery, the position of unmanned machine battery can be carried out accurate
Demarcation, be conducive to improving the accuracy that capture to unmanned machine battery of mechanical arm, and ensure that accuracy when mechanical arm is captured,
The present invention can quickly realize the crawl and replacing of unmanned machine battery, and cost is low, precision is high, flexible convenient, time saving and energy saving, work
Make efficiency high.
Brief description of the drawings
Fig. 1 is the block diagram representation of the mode of the unmanned machine battery of mechanical arm crawl in the embodiment of the present invention.
Fig. 2 is the schematic flow sheet of the mode of the unmanned machine battery of mechanical arm crawl in the embodiment of the present invention.
In figure：10- vision collecting modules, 20- ranging localization modules, 30- data processing modules, the output of 40- control signals
Module, 50- handgrip drive modules, 60- mechanical arm control modules, 70- avoidance modules, 80- alarm modules.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, in the embodiment of the present invention, a kind of mechanical arm captures the mode of unmanned machine battery, including vision collecting
Module 10, ranging localization module 20, data processing module 30, control signal output module 40, handgrip drive module 50, mechanical arm
Control module 60, avoidance module 70 and alarm module 80, between the data processing module 30 and vision collecting module 10 mutually
It is electrically connected with, vision collecting module 10 includes video camera, video camera is installed on the robotic arm, and video camera shoots within the vision
Image, image information sends data processing module 30 to, and data processing module 30 is analyzed and processed to image information, at data
Manage module 30 and control command is sent to control signal output module 40 by network or serial ports；The data processing module 30
Electrically connected with ranging localization module 20, ranging localization module 20 is used for the distance number for determining UAV targets' battery space position
According to；The control signal output module 40 is electrically connected with handgrip drive module 50 and mechanical arm control module 60 respectively, control
Signal output module 40 is integrated after receiving the control command from data processing module 30 to it, control signal output module
40 independently control the startup of handgrip drive module 50 and mechanical arm control module 60；In the mechanical arm control module 60 also
Avoidance module 70 is electrically connected with, mechanical arm control module 60 is during motion according to the avoiding barrier of avoidance module 70；Institute
State data processing module 30 and be also electrically connected with alarm module 80, when in the operation process of mechanical arm control module 60 and avoidance module 70
Failure, when mechanical arm control module 60 touches barrier, alarm module 80 sends alarm signal, to remind staff；Institute
State handgrip drive module 50 be used for realize crawl operation to target workpiece, in the embodiment of the present invention, target workpiece is unmanned plane
Battery.
A kind of mechanical arm captures the mode of unmanned machine battery, as shown in Fig. 2 comprising the following steps：
S1：Parameter calibration is carried out to video camera and mechanical arm, the coordinate relation of video camera and mechanical arm is set up；
S2：Target workpiece is identified, target workpiece is not in the visual field, and data processing module 30 sends control instruction and arrived
To mechanical arm control module 60 control command, mechanical arm control occur for control signal output module 40, control signal output module 40
The control machinery arm of molding block 60 is moved, and makes target workpiece in the visual field；
S3：Target workpiece determines the coordinate of target workpiece in the visual field；
S4：Judge whether target workpiece is located at the underface of handgrip, target workpiece is not in the underface of handgrip, data processing
Module 30 sends control instruction to control signal output module 40, and control signal output module 40 is sent out to mechanical arm control module 60
Raw control command, the control machinery arm of mechanical arm control module 60 movement, makes handgrip be located at the surface of target workpiece；
S5：Target workpiece is in the underface of handgrip, and data processing module 30 sends control instruction and exports mould to control signal
To handgrip drive module 50 control command, the driving handgrip pair of handgrip drive module 50 occur for block 40, control signal output module 40
Target workpiece is captured, so as to complete the replacing of target workpiece.
S6：In mechanical arm moving process, according to the avoiding barrier of avoidance module 70, on the premise of avoidance Module Fail,
Barrier is touched in mechanical arm moving process, alarm module 80 sends alarm signal.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It may be appreciated other embodiment.
Claims (6)
1. a kind of mechanical arm captures the mode of unmanned machine battery, including vision collecting module (10), ranging localization module (20), number
According to processing module (30), control signal output module (40), handgrip drive module (50), mechanical arm control module (60), avoidance
Module (70) and alarm module (80), it is characterised in that between the data processing module (30) and vision collecting module (10)
It is electrically connected with each other, the data processing module (30) electrically connects with ranging localization module (20), the control signal exports mould
Block (40) is electrically connected with handgrip drive module (50) and mechanical arm control module (60) respectively.
2. a kind of mechanical arm according to claim 1 captures the mode of unmanned machine battery, it is characterised in that the vision is adopted
Collecting module (10) includes video camera, and video camera is installed on the robotic arm, and video camera shoots image within the vision, image information
Send data processing module (30) to, data processing module (30) is analyzed and processed to image information, data processing module
(30) control command is sent to control signal output module (40) by network or serial ports.
3. a kind of mechanical arm according to claim 1 captures the mode of unmanned machine battery, it is characterised in that the control letter
Number output module (40) is integrated after receiving the control command from data processing module (30) to it, control signal output mould
Block (40) independently controls the startup of handgrip drive module (50) and mechanical arm control module (60).
4. a kind of mechanical arm according to claim 1 captures the mode of unmanned machine battery, it is characterised in that at the data
Reason module (30) is also electrically connected with alarm module (80).
5. a kind of mechanical arm according to claim 1 captures the mode of unmanned machine battery, it is characterised in that the mechanical arm
Avoidance module (70) is electrically connected with control module (60).
6. a kind of mechanical arm according to claim 1 captures the mode of unmanned machine battery, it is characterised in that including following step
Suddenly：
S1：Parameter calibration is carried out to video camera and mechanical arm, the coordinate relation of video camera and mechanical arm is set up,
S2：Target workpiece is identified, target workpiece is not in the visual field, and data processing module (30) sends control instruction to control
To mechanical arm control module (60) control command, machinery occur for signal output module (40) processed, control signal output module (40)
Arm control module (60) control machinery arm is moved, and makes target workpiece in the visual field,
S3：Target workpiece determines the coordinate of target workpiece in the visual field,
S4：Judge whether target workpiece is located at the underface of handgrip, target workpiece is not in the underface of handgrip, data processing module
(30) control instruction is sent to control signal output module (40), and control signal output module (40) is to mechanical arm control module
(60) occur control command, the movement of mechanical arm control module (60) control machinery arm makes handgrip be located at the surface of target workpiece,
S5：Target workpiece sends control instruction to control signal output module in the underface of handgrip, data processing module (30)
(40), to handgrip drive module (50) control command, handgrip drive module (50) driving occur for control signal output module (40)
Handgrip is captured to target workpiece, so as to complete the replacing of target workpiece.
S6：In mechanical arm moving process, according to avoidance module (70) avoiding barrier, on the premise of avoidance Module Fail, machine
Barrier is touched in tool arm moving process, alarm module (80) sends alarm signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710548520.XA CN107121988A (en) | 2017-07-06 | 2017-07-06 | A kind of mechanical arm captures the mode of unmanned machine battery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710548520.XA CN107121988A (en) | 2017-07-06 | 2017-07-06 | A kind of mechanical arm captures the mode of unmanned machine battery |
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| Publication Number | Publication Date |
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| CN107121988A true CN107121988A (en) | 2017-09-01 |
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| CN201710548520.XA Pending CN107121988A (en) | 2017-07-06 | 2017-07-06 | A kind of mechanical arm captures the mode of unmanned machine battery |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927804A (en) * | 2018-07-25 | 2018-12-04 | 中科新松有限公司 | Compound robot control system and robot |
| CN109515731A (en) * | 2018-11-06 | 2019-03-26 | 上海复亚智能科技有限公司 | A kind of vehicle-mounted automatic airport landing equipment of unmanned plane and its control method |
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| CN106218912A (en) * | 2016-08-31 | 2016-12-14 | 中国华录·松下电子信息有限公司 | Unmanned plane battery exchanges automatically, data are transmitted and fault detect platform |
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| EP1640727A1 (en) * | 2004-09-23 | 2006-03-29 | Innalabs Technologies, Inc. | Magnetofluidic accelerometer |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
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| CN108927804A (en) * | 2018-07-25 | 2018-12-04 | 中科新松有限公司 | Compound robot control system and robot |
| CN109515731A (en) * | 2018-11-06 | 2019-03-26 | 上海复亚智能科技有限公司 | A kind of vehicle-mounted automatic airport landing equipment of unmanned plane and its control method |
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