CN109571412A - A kind of mechanical arm independent navigation mobile system and method - Google Patents
A kind of mechanical arm independent navigation mobile system and method Download PDFInfo
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- CN109571412A CN109571412A CN201910036863.7A CN201910036863A CN109571412A CN 109571412 A CN109571412 A CN 109571412A CN 201910036863 A CN201910036863 A CN 201910036863A CN 109571412 A CN109571412 A CN 109571412A
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- 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
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of mechanical arm independent navigation mobile systems, including mobile chassis unit, mechanical arm unit, scanning element, Terminal Control Element, remote monitoring unit and visual detection unit, wherein, mobile chassis unit, mechanical arm unit, scanning element are connect with Terminal Control Element respectively, and mechanical arm unit, scanning element are mounted on mobile chassis unit；Terminal Control Element control mobile chassis unit is run to assigned work position, and detects barrier by scanning element in the process of running, controls the effective avoiding barrier of mobile chassis unit after Terminal Control Element disturbance of analysis object information；Remote monitoring unit and Terminal Control Element are wirelessly connected, and the two can be communicated mutually, and remote monitoring unit can assign instruction to Terminal Control Element；The real-time working condition information of visual detection unit detection mechanical arm unit, and by the work information real-time transmission to remote monitoring unit, finally make Terminal Control Element control mechanical arm unit and carries out effective operation.
Description
Technical field
The present invention relates to mechanical arm and independent navigation trolley technical fields more particularly to a kind of mechanical arm independent navigation to move
Dynamic system and method.
Background technique
Automated guided vehicle, which refers to, magnetically or optically waits homing guidances device equipped with electricity, it can be along defined guiding road
Diameter traveling, the transport vehicle with safeguard protection and various transfer functions.Automated guided vehicle characterized by wheel type mobile, compared with
Walking, creep or other non-wheeled mobile robots have movement is quick, work efficiency is high, structure is simple, controllability is strong,
The advantages such as safety is good.Compared with other equipment common in material conveying, the zone of action of automated guided vehicle is without paving
If track, support saddle frame etc. fix device, do not limited by place, road and space.Therefore, in automatic Material Handling System, most
Its automaticity and flexibility can be fully embodied, realizes efficient, economic, flexible manless production.
The compound humanoid robot of " automated guided vehicle+mechanical arm " is in the front end of research, but compound machine at present
A kind of expansion application of the people as cooperation robot, there are still good application prospects in terms of enterprise intelligent manufactures transformation.
Firstly, since moving range is big, and utilize the SLAM(Simultaneous of current automated guided vehicle
Localization And Mapping, immediately positioning and map structuring) technology, keep compound humanoid robot more intelligent in
Workshop is mobile, realizes the multiplexing bit manipulation of cooperation robot, more flexible compared to traditional robot, coverage area is wider.?
While improving robot covering surface, compound humanoid robot can refer to ERP(Enterprise Resource Planning,
Enterprise Resources Plan), MES(Manufacturing Execution System, manufacturing enterprise's production process execute system) etc.
The instruction of information system is preferably combined running with information system.Job-Shop personnel can be by system, to compound machine
People assigns the instruction of material transportation, loading and unloading, improves workshop intelligence degree.In general, in addition to will robot field at present
Except the higher automated guided vehicle of temperature is organically combined with the robot that cooperates, there are also abilities to make vehicle for compound humanoid robot
Between with intelligence manufacture more further, application prospect is worthy of expecting.
Summary of the invention
In view of the problems of the existing technology, the purpose of the present invention is to provide one kind be able to solve homing guidance transport it is small
Vehicle has a single function, can only advance according to pre-determined route, cannot autonomous avoiding barrier, the machinery for the problems such as adaptive capacity to environment is poor
Arm independent navigation mobile system and the mechanical arm independent navigation moving method.
To achieve the goals above, a kind of mechanical arm independent navigation mobile system of the present invention, including mobile chassis unit, machine
Tool arm unit, scanning element, Terminal Control Element, remote monitoring unit and visual detection unit, wherein mobile chassis unit,
Mechanical arm unit, scanning element are connect with Terminal Control Element respectively, and mechanical arm unit, scanning element are mounted on mobile chassis list
In member；Terminal Control Element control mobile chassis unit is run to assigned work position, and passes through scanning in the process of running
Unit detects barrier, controls the effective avoiding barrier of mobile chassis unit after Terminal Control Element disturbance of analysis object information；Far
Range monitoring unit and Terminal Control Element are wirelessly connected, and the two can be communicated mutually, and remote monitoring unit can be to terminal control
Unit assigns instruction；In assigned work position, the real-time working condition information of visual detection unit detection mechanical arm unit, and by the work
Condition information real-time transmission is to remote monitoring unit, and remote monitoring unit assigns instruction to Terminal Control Element, so that terminal control
Unit controls mechanical arm unit and carries out effective operation.
Further, the mobile chassis unit includes pedestal, castor, driving motor and gyroscope, wherein pedestal includes top
Three plate, middle plate and bottom plate plates parallel to each other, and several support columns being mounted between these three plates；Castor is mounted on
The driving shaft end of driving motor, driving motor are mounted on lower surface of base plate, castor movement are driven by driving motor, so that moving
Dynamic tray unit realizes movement；Top rotation instrument is mounted on the upper surface of bottom plate, acquires the angle information of pedestal；Driving motor, top rotation
Instrument is connect with the Terminal Control Element respectively, and the rotation of driving motor is controlled by Terminal Control Element, and top revolves instrument for information
Send the Terminal Control Element to.
Further, the mechanical arm unit includes mechanical arm and mechanical arm pedestal, and mechanical arm pedestal installs the mobile bottom
At the top of disk unit, mechanical arm is mounted on mechanical arm pedestal, wherein mechanical arm includes large arm, large arm motor, forearm, forearm electricity
Machine, sucker and calibration square, sucker are connect with calibration square, and calibration square is mounted on the end of forearm, and forearm is mounted on large arm
End, the junction of forearm and large arm is equipped with forearm motor, forearm enable to rotate by axis of large arm, and large arm is mounted on machine
The junction of the top of tool arm pedestal, large arm and mechanical arm pedestal is equipped with large arm motor, enables large arm with mechanical arm pedestal
For axis rotation；Forearm driving motor, large arm driving motor are connect with the Terminal Control Element respectively, pass through Terminal Control Element
Control the rotation of motor；Sucker is demarcated on the surface of square for grabbing material and is provided with the two dimensional code of location information, will demarcate
The location information of square shows visual detection unit.
Further, the scanning element includes laser radar sensor and data processing module, laser radar sensor to
Then objective emission detectable signal receives from the reflected signal of target；Laser radar is sensed by data processing module
Device, which is issued, carries out calculation process with the signal received, finally transfers data to the Terminal Control Element.
Further, system further includes vacuum pump unit, which includes vaccum pump motor and tracheae, and the one of tracheae
End is connect with vaccum pump motor, and the other end of tracheae is connect with the sucker of mechanical arm unit, and vaccum pump motor is taken away by rotation
Air forms subnormal ambient, negative pressure is passed to sucker by tracheae；Vaccum pump motor is connect with Terminal Control Element, passes through end
Hold control unit control vaccum pump motor operating.
Further, the Terminal Control Element includes microcomputer host, wireless transport module, memory module and shell,
Microcomputer host, wireless transport module, memory module packaging in shell, microcomputer host control mobile chassis unit,
The operating of mechanical arm unit and the respective motor of vacuum pump unit, the data that acquisition process scanning element transmits；It is wireless to pass
Defeated module realizes signal communication, data interaction for the wireless connection between microcomputer host and the remote monitoring unit；
Memory module is used to store the data of microcomputer host generation.
Further, the remote monitoring unit, the remote control unit include that intelligent terminal, wireless router and monitoring are aobvious
Show that device, intelligent terminal are connect with wireless router, monitoring display respectively, intelligent terminal passes through wireless router and terminal control
Unit wireless connection, Terminal Control Element will be displaced tray unit, the operation data of mechanical arm unit, scanning element and scan number
Intelligent terminal is sent to according to, vacuum pump unit running state data, is checked by monitoring display, is monitored these data；Intelligence
Terminal can send to Terminal Control Element and instruct, with the operation of tele-control system.
Further, the visual detection unit includes camera, and camera is connect with remote monitoring unit, is mounted on material
The top of platform, camera obtain directional information by the two dimensional code on the surface of scanning calibration square, are obtained by triangulation
The location information of forearm, and location information is sent to remote monitoring unit.
A kind of mechanical arm independent navigation moving method of the present invention, using above-mentioned mechanical arm independent navigation mobile system, step
It is rapid as follows:
(1) remote monitoring unit issues the location information of material platform, Terminal Control Element control movement to Terminal Control Element
Tray unit reaches material platform front end；
(2) after mechanical arm unit enters the coverage of camera, the location information of mechanical arm is determined by demarcating square, and
Location information is transferred to remote monitoring unit；
(3) remote monitoring unit is after the location information for obtaining mechanical arm, by the position of camera real time inspection mechanical arm with
Whether there is deviation between material, if there is deviation to compensate its position, i.e., remote monitoring unit and Terminal Control Element carry out
Both-way communication, Terminal Control Element control mechanical arm are moved, compensate location error, after error free, pass through vacuum pump unit
Material is picked up with sucker；
(4) after picking up material, remote monitoring unit controls mobile chassis unit to the movement of aiming spot coordinate, works as traveling process
When middle scanning element discovery has barrier, obstacle information is sent to Terminal Control Element, Terminal Control Element is according to the letter
Breath control mobile chassis unit is mobile, avoiding barrier, and mechanical arm reaches specified coordinate and material is put into charging tray.
Further, the camera obtains position of the two dimensional code of calibration square in camera coordinates system；When mechanical arm arrives
When near up to crawl target position, the coordinate in the global coordinate system for being grabbed object is transformed by mechanical arm institute by matrix conversion
Coordinate in, to realize the crawl of object；The scanning element needs two cost maps to store the position of barrier
Information, i.e., global cost map and local cost map, global cost map are used for long-term path planning, and local cost
Figure for local path planning with hide.
Mechanical arm independent navigation mobile system of the present invention, has the advantages that and 1. encapsulates whole system
For different modules, detailed planning and designing and sizing then are carried out to modules, facilitate the subsequent extension of managing and control system, liter
Grade and exploitation；2. the information of each unit is focused on remote monitoring unit to be monitored and controlled, mechanical arm independent navigation is allowed
The real-time condition of system is clearly presented in monitoring display, and controllers is facilitated to make a policy；3. realizing mechanical arm certainly
Leading boat movement, expands the moving range of mechanical arm, has expanded the application field of mechanical arm；4. can handle data
And record, data supporting is provided for the optimization construction of subsequent mechanical arm independent navigation mobile system.
Detailed description of the invention
Fig. 1 is a kind of mechanical arm independent navigation mobile system partial structural diagram of the present invention；
Fig. 2 is a kind of mechanical arm independent navigation mobile system partial structural diagram of the present invention；
Fig. 3 is a kind of mechanical arm independent navigation mobile system information exchange block diagram of the present invention；
Fig. 4 is a kind of mechanical arm independent navigation mobile system work flow diagram of the present invention.
Specific embodiment
In the following, being made a more thorough explanation with reference to attached drawing to the present invention, shown in the drawings of exemplary implementation of the invention
Example.However, the present invention can be presented as a variety of different forms, it is not construed as the exemplary implementation for being confined to describe here
Example.And these embodiments are to provide, to keep the present invention full and complete, and it will fully convey the scope of the invention to this
The those of ordinary skill in field.
The spatially relative terms such as "upper", "lower" " left side " " right side " can be used herein for ease of explanation, for saying
Relationship of the elements or features relative to another elements or features shown in bright figure.It should be understood that in addition in figure
Except the orientation shown, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure
Device is squeezed, and is stated as being located at other elements or the element of feature "lower" will be located into other elements or feature "upper".Cause
This, exemplary term "lower" may include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or is located at
Other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
As shown in Figures 1 to 4, a kind of mechanical arm independent navigation mobile system of the present invention, including mobile chassis unit 1, machine
Tool arm unit 2, scanning element 3, vacuum pump unit 4, Terminal Control Element 5, remote monitoring unit 6 and visual detection unit 7, machine
Tool arm unit 2 is mounted on the top of mobile chassis unit 1, and scanning element 3, vacuum pump unit 4, Terminal Control Element 5 are mounted on
On mobile chassis unit 1, wherein mobile chassis unit 1, mechanical arm unit 2, scanning element 3, vacuum pump unit 4 respectively with end
Control unit 5 is held to connect, Terminal Control Element 5 controls the fortune of mobile chassis unit 1, mechanical arm unit 2 and vacuum pump unit 4
Row；Remote monitoring unit 6 and Terminal Control Element 5 are wirelessly connected, between the two data can two-way interactive, remote monitoring unit
6 can assign instruction to Terminal Control Element 5, to control the fortune of mobile chassis unit 1, mechanical arm unit 2, vacuum pump unit 4
Row；Visual detection unit 7 is connect with remote monitoring unit 6, and the whole system situation that will test feeds back to remote monitoring unit
6。
Mobile chassis unit 1 include pedestal, castor, driving motor and gyroscope, wherein pedestal include top plate, middle plate and
Three plates parallel to each other of bottom plate, and several support columns being mounted between these three plates, in practical applications, in order to give
Other component reserves more spaces, and support column is mounted on to the edge of three plates；Castor is mounted on the driving of driving motor
Shaft end, driving motor are mounted on lower surface of base plate, and the present invention drives castor to move by driving motor, so that mobile chassis list
Member 1 realizes movement, and in the present embodiment, there are four driving motor and matched four castors, four driving motor peaces
Dress angle is parallel two-by-two, and at four angles of lower surface of base plate, driving motor is connect with Terminal Control Element 5, passes through terminal
The rotation of the control driving motor of control unit 5；Top rotation instrument is mounted on the upper surface of bottom plate, acquires the angle information of pedestal, and will
Information sends Terminal Control Element 5 to.
Mechanical arm unit 2 includes mechanical arm and mechanical arm pedestal, and mechanical arm pedestal is mounted on the cover top surface of pedestal, machine
Tool arm is mounted on mechanical arm pedestal, wherein mechanical arm includes large arm, large arm motor, forearm, forearm motor, sucker and calibration
Square, sucker connects with calibration square, and calibration square is mounted on the end of forearm, and forearm is mounted on the end of large arm, forearm and
The junction of large arm is equipped with forearm motor, and forearm is enable to rotate by axis of large arm, and large arm is mounted on the top of mechanical arm pedestal
The junction of portion, large arm and mechanical arm pedestal is equipped with large arm motor, and large arm is enable to rotate by axis of mechanical arm pedestal；Forearm
Driving motor, large arm driving motor are connect with Terminal Control Element 5 respectively, and the rotation of motor is controlled by Terminal Control Element 5；
Sucker is demarcated on the surface of square for grabbing material and is provided with the two dimensional code of location information, will demarcate the location information of square
Visual detection unit is showed, the camera of visual detection unit is surveyed by scanning the two-dimensional code acquisition directional information by triangle
Amount obtains the location information of forearm.
Scanning element 3 is mounted on the upper surface of middle plate, including laser radar sensor and data processing module, laser radar
Then sensor receives to objective emission detectable signal from the reflected signal of target；By data processing module by laser
Radar sensor, which is issued, carries out calculation process with the signal received, finally transfers data to Terminal Control Element 5.
Vacuum pump unit 4 is mounted on the upper surface of the bottom plate of pedestal comprising vaccum pump motor and tracheae, one end of tracheae
It is connect with vaccum pump motor, the other end of tracheae is connect with the sucker of mechanical arm unit 2, and vaccum pump motor takes sky away by rotation
Gas forms subnormal ambient, negative pressure is passed to sucker by tracheae；Vaccum pump motor is connect with Terminal Control Element 5, passes through terminal
Control unit 5 controls vaccum pump motor operating.
Terminal Control Element 5 is mounted on the upper surface of the bottom plate of pedestal, including microcomputer host, wireless transport module,
Memory module and shell, microcomputer host, wireless transport module, memory module packaging are in shell, microcomputer host control
The operating of mobile chassis unit 1, mechanical arm unit 2 and the respective motor of vacuum pump unit 4 processed, acquisition process scanning element 3 pass
The defeated data to come；Wireless transport module realizes letter for the wireless connection between microcomputer host and remote monitoring unit 6
Number communication, data interaction；Memory module is used to store the data of microcomputer host generation.
Remote monitoring unit 6 include intelligent terminal, wireless router and monitoring display, intelligent terminal respectively with no route
By device, monitoring display connection, intelligent terminal is wirelessly connected by wireless router and Terminal Control Element 5, i.e. wireless routing
Device and wireless transport module are wirelessly connected, Terminal Control Element 5 by be displaced tray unit 1, mechanical arm unit 2 operation data,
The data transmissions such as 3 scan data of scanning element, 4 operating status of vacuum pump unit are more straight by monitoring display to intelligent terminal
It checks these data with seeing, and determines the instruction of next step according to these data, which is issued by terminal by intelligent terminal
Control unit 5 is acted in next step with command displacement tray unit 1, mechanical arm unit 2, vacuum pump unit 4.In the present embodiment,
Intelligent terminal is desktop computer, in practical applications, intelligent terminal can also be laptop, tablet computer, smart phone,
Smartwatch etc., so that present system use is more flexible.
Visual detection unit 7 includes camera, and camera connect that (wired connection wirelessly connects with remote monitoring unit 6
Connect), it is mounted on the top of material platform, reads the location information of calibration square by the principle of triangulation, and by position
Confidence breath is sent to remote monitoring unit 6.Above-mentioned material platform includes support leg and material lodging bench, and material lodging bench is mounted on
In support leg, material lodging bench is for storing material to be captured.
A kind of mechanical arm independent navigation mobile system of the present invention further includes power supply, including mobile power source and fixed power source,
In, mobile power source is mounted on mobile chassis unit 1, is mobile chassis unit 1, mechanical arm unit 2, scanning element 3, vacuum pump
Unit 4 and Terminal Control Element 5 provide electric energy, and in the present embodiment, mobile power source is lithium ion battery, is moved in practical application
Power supply is not limited to lithium ion battery；Fixed power source is remote monitoring unit 6 and visual detection unit 7 provides electric energy, fixed electricity
Source can be battery, lithium battery etc., be also possible to AC power source.
It should be noted that mechanical arm unit, scanning element, vacuum pump unit, Terminal Control Element are in mobile chassis unit
On position be not limited to above-mentioned position, suitable position can be selected according to the actual situation.
In practical applications, remote monitoring unit can be merged into Terminal Control Element, at this time vision monitoring unit
It is wirelessly connected with Terminal Control Element.
The invention also discloses a kind of mechanical arm independent navigation moving methods, mobile using above-mentioned mechanical arm independent navigation
System, steps are as follows:
(1) remote monitoring unit issues the location information of material platform, Terminal Control Element control movement to Terminal Control Element
Tray unit reaches material platform front end；
(2) after mechanical arm unit enters the coverage of camera, the location information of mechanical arm is determined by demarcating square, and
Location information is transferred to remote monitoring unit；
(3) remote monitoring unit is after the location information for obtaining mechanical arm, by the position of camera real time inspection mechanical arm with
Whether there is deviation between material, if there is deviation to compensate its position, i.e., remote monitoring unit and Terminal Control Element carry out
Both-way communication, Terminal Control Element control mechanical arm are moved, compensate location error, after error free, pass through vacuum pump unit
Material is picked up with sucker；
(4) after picking up material, remote monitoring unit controls mobile chassis unit to the movement of aiming spot coordinate, works as traveling process
When middle scanning element discovery has barrier, obstacle information is sent to Terminal Control Element, Terminal Control Element is according to the letter
Breath control mobile chassis unit is mobile, avoiding barrier, and mechanical arm reaches specified coordinate and material is put into charging tray.
In step (2), (3), camera obtains position of the two dimensional code of calibration square in camera coordinates system；Work as mechanical arm
When reaching near crawl target position, the coordinate in the global coordinate system for being grabbed object is transformed by mechanical arm by matrix conversion
In the coordinate at place, to realize the crawl of object.
In step (4), scanning element needs two cost maps to store the location information of barrier, i.e., global cost
Figure and local cost map, global cost map is used for long-term path planning, and local cost map is for local path
It plans and hides.
Mechanical arm independent navigation mobile system of the present invention, has the advantages that and 1. encapsulates whole system
For different modules, detailed planning and designing and sizing then are carried out to modules, facilitate the subsequent extension of managing and control system, liter
Grade and exploitation；2. the information of each unit is focused on remote monitoring unit to be monitored and controlled, mechanical arm independent navigation is allowed
The real-time condition of system is clearly presented in monitoring display, and controllers is facilitated to make a policy；3. realizing mechanical arm certainly
Leading boat movement, expands the moving range of mechanical arm, has expanded the application field of mechanical arm；4. can handle data
And record, data supporting is provided for the optimization construction of subsequent mechanical arm independent navigation mobile system.
Claims (10)
1. a kind of mechanical arm independent navigation mobile system, which is characterized in that including mobile chassis unit, mechanical arm unit, scanning
Unit, Terminal Control Element, remote monitoring unit and visual detection unit, wherein mobile chassis unit, is swept mechanical arm unit
It retouches unit to connect with Terminal Control Element respectively, mechanical arm unit, scanning element are mounted on mobile chassis unit；Terminal control
Unit control mobile chassis unit is run to assigned work position, and detects obstacle by scanning element in the process of running
Object controls the effective avoiding barrier of mobile chassis unit after Terminal Control Element disturbance of analysis object information；Remote monitoring unit with
Terminal Control Element is wirelessly connected, and the two can be communicated mutually, and remote monitoring unit can assign instruction to Terminal Control Element；
In assigned work position, the real-time working condition information of visual detection unit detection mechanical arm unit, and the work information is passed in real time
It send to remote monitoring unit, remote monitoring unit assigns instruction to Terminal Control Element, so that Terminal Control Element control is mechanical
Arm unit carries out effective operation.
2. a kind of mechanical arm independent navigation mobile system according to claim 1, which is characterized in that the mobile chassis list
Member includes pedestal, castor, driving motor and gyroscope, wherein pedestal includes that top plate, middle plate and bottom plate three are parallel to each other
Plate, and several support columns being mounted between these three plates；Castor is mounted on the driving shaft end of driving motor, driving electricity
Machine is mounted on lower surface of base plate, castor movement is driven by driving motor, so that mobile chassis unit realizes movement；Top revolves instrument peace
Mounted in the upper surface of bottom plate, the angle information of pedestal is acquired；Driving motor, top rotation instrument connect with the Terminal Control Element respectively
It connects, the rotation of driving motor is controlled by Terminal Control Element, top rotation instrument communicates information to the Terminal Control Element.
3. a kind of mechanical arm independent navigation mobile system according to claim 1, which is characterized in that the machinery arm unit
Including mechanical arm and mechanical arm pedestal, mechanical arm pedestal is installed at the top of the mobile chassis unit, and mechanical arm is mounted on mechanical arm
On pedestal, wherein mechanical arm includes large arm, large arm motor, forearm, forearm motor, sucker and calibration square, sucker and calibration side
Block connection, calibration square are mounted on the end of forearm, and forearm is mounted on the end of large arm, and the junction of forearm and large arm is equipped with
Forearm motor enables forearm to rotate by axis of large arm, and large arm is mounted on the top of mechanical arm pedestal, large arm and mechanical arm pedestal
Junction large arm motor is installed, enable large arm using mechanical arm pedestal as axis rotate；Forearm driving motor, large arm driving electricity
Machine is connect with the Terminal Control Element respectively, and the rotation of motor is controlled by Terminal Control Element；Sucker is used to grab material,
The two dimensional code for being provided with location information on the surface of square is demarcated, the location information for demarcating square is showed into vision-based detection list
Member.
4. a kind of mechanical arm independent navigation mobile system according to claim 1, which is characterized in that the scanning element packet
Laser radar sensor and data processing module are included, then laser radar sensor receives to objective emission detectable signal from mesh
Mark reflected signal；Laser radar sensor is issued by data processing module and is carried out at operation with the signal received
Reason, finally transfers data to the Terminal Control Element.
5. a kind of mechanical arm independent navigation mobile system according to claim 3, which is characterized in that further include vacuum pump list
Member, the vacuum pump unit include vaccum pump motor and tracheae, and one end of tracheae is connect with vaccum pump motor, the other end of tracheae with
The sucker of mechanical arm unit connects, and vaccum pump motor takes air away by rotation, forms subnormal ambient, is passed negative pressure by tracheae
To sucker；Vaccum pump motor is connect with Terminal Control Element, controls vaccum pump motor operating by Terminal Control Element.
6. a kind of mechanical arm independent navigation mobile system according to claim 1, which is characterized in that the terminal control list
Member includes microcomputer host, wireless transport module, memory module and shell, microcomputer host, wireless transport module, storage
For module packaging in shell, microcomputer host controls mobile chassis unit, mechanical arm unit and the respective electricity of vacuum pump unit
The operating of machine, the data that acquisition process scanning element transmits；Wireless transport module is for microcomputer host and described remote
Wireless connection between range monitoring unit realizes signal communication, data interaction；Memory module is for storing the production of microcomputer host
Raw data.
7. a kind of mechanical arm independent navigation mobile system according to claim 1, which is characterized in that the long-range monitoring list
Member, the remote control unit include intelligent terminal, wireless router and monitoring display, intelligent terminal respectively with wireless routing
Device, monitoring display connection, intelligent terminal are wirelessly connected by wireless router and Terminal Control Element, and Terminal Control Element will
It is displaced tray unit, the operation data of mechanical arm unit, scanning element scan data, the transmission of vacuum pump unit running state data
To intelligent terminal, is checked by monitoring display, monitors these data；Intelligent terminal can be sent to Terminal Control Element to be referred to
It enables, with the operation of tele-control system.
8. a kind of mechanical arm independent navigation mobile system according to claim 3, which is characterized in that the vision-based detection list
Member includes camera, and camera is connect with remote monitoring unit, is mounted on the top of material platform, and camera passes through scanning calibration
The two dimensional code on the surface of square obtains directional information, and the location information of forearm is obtained by triangulation, and location information is sent out
Give remote monitoring unit.
9. a kind of mechanical arm independent navigation moving method, steps are as follows:
(1) remote monitoring unit issues the location information of material platform, Terminal Control Element control movement to Terminal Control Element
Tray unit reaches material platform front end；
(2) after mechanical arm unit enters the coverage of camera, the location information of mechanical arm is determined by demarcating square, and
Location information is transferred to remote monitoring unit；
(3) remote monitoring unit is after the location information for obtaining mechanical arm, by the position of camera real time inspection mechanical arm with
Whether there is deviation between material, if there is deviation to compensate its position, i.e., remote monitoring unit and Terminal Control Element carry out
Both-way communication, Terminal Control Element control mechanical arm are moved, compensate location error, after error free, pass through vacuum pump unit
Material is picked up with sucker；
(4) after picking up material, remote monitoring unit controls mobile chassis unit to the movement of aiming spot coordinate, works as traveling process
When middle scanning element discovery has barrier, obstacle information is sent to Terminal Control Element, Terminal Control Element is according to the letter
Breath control mobile chassis unit is mobile, avoiding barrier, and mechanical arm reaches specified coordinate and material is put into charging tray.
10. a kind of mechanical arm independent navigation mobile system according to claim 9, which is characterized in that the camera obtains
Take position of the two dimensional code of calibration square in camera coordinates system；When mechanical arm reaches near crawl target position, pass through square
Battle array is converted in the coordinate where the coordinate in the global coordinate system for being grabbed object to be transformed into mechanical arm, to realize grabbing for object
It takes；The scanning element needs two cost maps to store the location information of barrier, i.e., global cost map and local generation
Valence map, global cost map are used for long-term path planning, and local cost map for local path planning with hide.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216688A (en) * | 2019-05-23 | 2019-09-10 | 浙江工业大学 | Part service robot and its control method are sent in a kind of Office Area |
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