CN110315500B - Double-mechanical-arm inspection robot and accurate door opening method thereof - Google Patents
Double-mechanical-arm inspection robot and accurate door opening method thereof Download PDFInfo
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- CN110315500B CN110315500B CN201910586727.5A CN201910586727A CN110315500B CN 110315500 B CN110315500 B CN 110315500B CN 201910586727 A CN201910586727 A CN 201910586727A CN 110315500 B CN110315500 B CN 110315500B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
- B25J19/022—Optical sensing devices using lasers
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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
- B25J19/04—Viewing devices
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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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
- B25J9/1694—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
- B25J9/1697—Vision controlled systems
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Abstract
The invention discloses a double-mechanical-arm inspection robot and an accurate door opening method thereof, wherein the double-mechanical-arm inspection robot comprises a walking chassis; the walking chassis is provided with a lifting device; the top end of the lifting device is provided with a visual positioning device for identifying a positioning two-dimensional code on the cabinet door; the lifting device is provided with an operation mechanical arm; the lifting device drives the operation mechanical arm to move to different heights; the front end of the walking chassis is provided with a laser radar; detecting whether the front face of the inspection robot is parallel to the cabinet by using a laser radar; the invention combines visual positioning, laser radar ranging, walking chassis movement, height adjustment of the camera and the left and right mechanical arms by the lifting rod, movement of the left and right mechanical arms and a key triggering device at the tail end of the mechanical arm, realizes a method for controlling the accurate door opening of the two mechanical arms, can realize accurate door opening of a cabinet door, can monitor the running state of equipment blocked by the cabinet door, improves the working efficiency, reduces the labor cost and has wider application range.
Description
Technical Field
The invention relates to the technical field of machine room inspection, in particular to a double-mechanical-arm inspection robot and an accurate door opening method thereof.
Background
The artificial intelligence technology is continuously improved, so that the robot can be used in more fields. Currently, intelligent robots have begun to be used in the field of automatic food delivery, automatic floor sweeping, emotional companions, machine room inspection, and task execution in harsh or high-risk environments. In the field of machine room inspection, the inspection of equipment by technicians is mainly relied on before, so that the labor cost is high, and the omission or error detection is easy due to human subjective factors. Due to the reasons, the machine room inspection robot is used in the field of machine room inspection, and can perform tasks of monitoring the temperature and humidity of the machine room, the running state of equipment in a machine cabinet and the like all day long. Many equipment need consider dustproof, secret, safety scheduling problem in the computer lab, and general equipment is all put in the rack, and the rack door is closed at ordinary times moreover, just can open the cabinet door when only needing check-up equipment running state, so, it is critical to realize a arm that can accurately open the cabinet door.
The existing machine room inspection robot shoots machine room equipment which is not blocked by a machine cabinet door by a camera, and then judges the running state of the equipment by adopting an image processing technology. However, equipment in a plurality of machine rooms is placed in the cabinet, the cabinet door is closed at ordinary times, the inspection robot cannot monitor the running state of the equipment in the cabinet, and the use scene of the robot is greatly limited. The invention combines the sensor technology commonly used by inspection robots, realizes a method for accurately opening the door by two mechanical arms, and well solves the problem of monitoring the running state of equipment in a cabinet.
Disclosure of Invention
The invention aims to provide a double-mechanical-arm inspection robot and a method for accurately opening a door based on the double-mechanical-arm inspection robot, which can accurately open a cabinet door, monitor the running state of equipment blocked by the cabinet door, improve the working efficiency, reduce the labor cost and have a wider application range.
The invention is realized by the following technical scheme:
the utility model provides a robot is patrolled and examined to double mechanical arm for the computer lab is patrolled and examined, wherein: comprises a walking chassis; a lifting device is arranged in the middle of the walking chassis in the vertical upward direction; the top end of the lifting device is provided with a visual positioning device for identifying a positioning two-dimensional code on the cabinet door; an operation mechanical arm is arranged on the lifting device; the lifting device drives the operation mechanical arm to move to different heights; the front end of the walking chassis is provided with a laser radar which is positioned on the same straight line with the lifting device; and the laser radar detects whether the front surface of the inspection robot is parallel to the cabinet.
Further, the lifting device comprises a lifting rod and a first driving device; the first driving device is connected with the lifting rod and drives the lifting rod to move up and down; the first driving device is arranged at the bottom of the walking chassis.
Furthermore, the visual positioning device comprises a camera, a controller, a mounting bottom plate and a universal wheel base for adjusting the direction of the camera; the camera is electrically connected with the controller and sends the image information of the positioning two-dimensional code to the controller; the camera and the controller are respectively arranged on the upper end surface of the mounting bottom plate; the lower end surface of the mounting bottom plate is connected with the universal wheel base; the universal wheel base is connected with the top end of the lifting rod.
Further, the operating mechanical arm comprises a right mechanical arm and a left mechanical arm; the right mechanical arm and the left mechanical arm are arranged on the lifting rod through moving blocks; the tail ends of the right mechanical arm and the left mechanical arm are provided with hooks for hooking door handles of the cabinet.
Furthermore, the hook is L-shaped, and a tail end touch key used for touching the surface of the cabinet door is arranged on the tail end face of the hook; the end face of the hook connected with the right mechanical arm and the left mechanical arm is provided with a tail end press key used for pressing a cabinet door handle in a contact manner; the tail end touch key and the tail end press key are electrically connected with the controller.
Further, the right mechanical arm and the left mechanical arm are both multi-joint mechanical arms; the right mechanical arm and the left mechanical arm can realize multi-dimensional motion and keep a certain curvature.
Furthermore, a direction wheel and a second driving device are installed at the bottom of the walking chassis; the second driving device is connected with the direction wheel and receives signals of the controller to drive the direction wheel to rotate.
Further, a method for accurately opening a door of an inspection robot based on two mechanical arms comprises the following steps: step 1: the cabinet door is provided with two doors, and the middle of each door is opened towards two sides; each door is provided with a customized cabinet door handle, and the tail end of the operation mechanical arm is provided with a hook which can hook the cabinet door handle; a specially-made positioning two-dimensional code is pasted on the left door of the cabinet door in advance, and the camera can identify the characteristics of the positioning two-dimensional code; the camera rises to a specified height through the lifting rod, so that the camera at the top of the lifting rod and the positioning two-dimensional code are at the same height, and the step 2 is continuously executed;
step 2: acquiring image information on the left door through the camera, and continuing to execute the step 3;
and step 3: judging whether the left door image has the positioning two-dimensional code characteristics or not, and executing the step 4 if the positioning two-dimensional code information is acquired; if the positioning two-dimensional code information is not acquired, executing the step 2 to continuously shoot the left door image;
and 4, step 4: the controller adjusts the walking chassis to move left and right according to the characteristics of the positioning two-dimensional code, so that the camera lens is opposite to the door slot of the cabinet, the center of the double-mechanical-arm inspection robot is opposite to the door slot, and the step 5 is executed after the adjustment is finished;
and 5: the controller reads data acquired by the laser radar, and adjusts the walking chassis to rotate left and right, so that the two mechanical arms patrol the front of the robot and are parallel to the cabinet door; when the laser scanning cabinet door front surface is transmitted by the laser radar, the returned distance data can form a straight line; the right front of the laser radar is regulated to be 0 degree, and distance values of a certain angle formed between the left distance of the laser radar and the right distance of the cabinet door and the 0 degree direction are read and are d1 and d2 respectively; when the front face of the double-mechanical-arm inspection robot has a certain included angle with the cabinet door and the distance d1 scanned by the laser radar is greater than d2, the walking chassis rotates rightwards relative to the cabinet door to enable d1 to be equal to d2, the double-mechanical-arm inspection robot is enabled to parallel the cabinet door, and then the walking chassis moves forwards and backwards to change the distance from the cabinet door of the double-mechanical-arm inspection robot; when the scanning distance d1 of the laser radar is smaller than d2, the walking chassis rotates left relative to the cabinet door to enable d1 to be equal to d2, so that the double mechanical arms patrol the parallel cabinet door of the robot, and then the walking chassis moves back and forth to change the distance between the double mechanical arms patrol the robot and the cabinet door; continuing to execute the step 6;
step 6: the camera acquires the two-dimensional code image characteristics again, the walking chassis moves left and right to enable the camera lens to face the door seam, so that the center of the double-mechanical-arm inspection robot faces the door seam, and the step 7 is executed after adjustment is completed;
and 7: the right mechanical arm and the left mechanical arm extend forwards horizontally at the same time, the extending forwards is stopped when the right mechanical arm and the left mechanical arm extend to a specified distance, the right mechanical arm and the left mechanical arm are enabled to keep a certain curvature, and the step 8 is continuously executed;
and 8: the walking chassis slowly advances, when the tail end of one hook of the right mechanical arm and the left mechanical arm touches a cabinet door through a touch key, the walking chassis stops advancing, and the step 9 is continuously executed;
and step 9: continuously detecting the terminal touch key states of the right mechanical arm and the left mechanical arm, if the terminal touch key of the left mechanical arm does not touch a cabinet door, slowly extending the left mechanical arm forwards until the terminal touch key of the left mechanical arm touches the cabinet door, and stopping extending forwards; if the touch key at the tail end of the right mechanical arm does not touch the cabinet door, the right mechanical arm slowly extends forwards until the touch key at the tail end of the right mechanical arm touches the cabinet door, and the forward extension is stopped; if the left mechanical arm and the right mechanical arm touch a cabinet door, executing the step 10;
step 10: the lifting rod slowly descends to drive the right mechanical arm and the left mechanical arm to descend simultaneously, when the tail end of at least one of the right mechanical arm and the left mechanical arm presses a button to a door handle, namely the hook hooks the door handle, the lifting rod stops descending, and the step 11 is continuously executed;
step 11: continuously detecting the states of the tail end press keys of the right mechanical arm and the left mechanical arm, if the tail end press key of the left mechanical arm is not pressed to a left door handle, the left mechanical arm slowly moves downwards until the tail end press key of the left mechanical arm is pressed to the left door handle, and stopping moving downwards; if the pressing key at the tail end of the right mechanical arm is not pressed to the right door handle, the right mechanical arm slowly moves downwards until the pressing key at the tail end of the right mechanical arm is pressed to the right door handle, and the downward movement is stopped; if the tail end press key of the left mechanical arm and the tail end press key of the right mechanical arm are both pressed to the door handle, executing the step 12;
step 12: and the right mechanical arm and the left mechanical arm execute a planned door opening track and open the cabinet door.
Further, in the step 1, a positioning two-dimensional code pre-attached to the left door of the cabinet door is positioned above the left door handle of the cabinet door; the left door handle and the right door handle of the cabinet door are arranged on the cabinet door at the same height; the distance from the left door handle of the cabinet door to the door slot of the cabinet door is the same as that from the right door handle of the cabinet door along the horizontal direction.
Further, in the step 5, reading distance values of a left included angle and a right included angle of 30 degrees formed between the left distance of the laser radar from the cabinet door and the 0-degree direction, wherein the distance values are d1 and d 2; d1 is greater than d2 or d1 is less than d2 or d1 is equal to d 2.
The invention has the beneficial effects that:
shooting a positioning two-dimensional code pasted on a cabinet door through a camera, and positioning the position of the cabinet door; the lifting rod can lift and adjust the height of the camera and the mechanical arm from the ground; the tail end touch key can detect whether the mechanical arm touches the cabinet door when extending the hand; the tail end pressing button can detect whether the mechanical arm presses the door handle or not; detecting whether the front face of the robot is parallel to the cabinet by using a laser radar; the walking chassis can move forwards, backwards, leftwards and rightwards through the direction wheels to adjust the distance between the mechanical arm and the cabinet door; the left mechanical arm and the right mechanical arm can stretch and pull the cabinet door open. The method for controlling the two mechanical arms to accurately open the door is realized by combining visual positioning, laser radar ranging, walking chassis movement, height adjustment of the camera and the left and right mechanical arms by the lifting rod, movement of the left and right mechanical arms, tail end touch keys arranged on the mechanical arms and tail end pressing keys arranged on the mechanical arms, so that the accurate door opening of the cabinet door can be realized, the running state of equipment blocked by the cabinet door can be monitored, the working efficiency is improved, the labor cost is reduced, and the method has a wider application range.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a double-mechanical-arm inspection robot in the embodiment of the invention;
fig. 2 is a flow chart of the door opening process of the inspection robot with two mechanical arms according to the embodiment of the invention;
FIG. 3 is a schematic front view of a cabinet door according to an embodiment of the invention;
fig. 4 is a schematic diagram of adjusting positions of a double-mechanical-arm inspection robot and a cabinet door according to an embodiment of the invention.
Wherein:
Detailed Description
The invention will be described in detail with reference to the drawings and specific embodiments, which are illustrative of the invention and are not to be construed as limiting the invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, back, top, end, bottom … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the figure), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless expressly stated or limited otherwise, the term "coupled" is to be interpreted broadly, e.g., "coupled" may be fixedly coupled, detachably coupled, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 and 3, a robot is patrolled and examined to two arms for the computer lab is patrolled and examined, wherein: comprises a walking chassis 1; the middle part of the walking chassis 1 is provided with a lifting device 2 in the vertical upward direction; the top end of the lifting device 2 is provided with a visual positioning device 3 for identifying a positioning two-dimensional code 511 on the cabinet door; an operation mechanical arm 4 is arranged on the lifting device 2; the lifting device 2 drives the operation mechanical arm 4 to move to different heights; the front end of the walking chassis 1 is provided with a laser radar 11 which is positioned on the same straight line with the lifting device 2; the laser radar 11 detects whether the front face of the inspection robot is parallel to the cabinet.
The positioning two-dimensional code 511 records information on the positional characteristics or positional relationship of the cabinet door 5 in advance, but of course, the information on the positional characteristics or positional relationship of the cabinet door 5, which is recorded in correspondence with the positioning two-dimensional code 511, is different for different cabinet doors 5.
Specifically, in this embodiment, the lifting device 2 includes a lifting rod 21 and a first driving device (not shown); the first driving device is connected with the lifting rod 21 and drives the lifting rod 21 to move up and down; the first driving device is arranged at the bottom of the walking chassis 1. It should be noted that the first driving device may be one of driving motors, and may provide driving power for the lifting rod 21.
Specifically, in this embodiment, the visual positioning device 3 includes a camera 31, a controller 32, a mounting base plate 33, and a universal wheel base 34 for adjusting the direction of the camera 31; the camera 31 is electrically connected with the controller 32, and the camera 31 sends the image information of the acquired positioning two-dimensional code 511 to the controller 32; the camera 31 and the controller 32 are respectively arranged on the upper end surface of the mounting bottom plate 33; the lower end surface of the mounting bottom plate 33 is connected with the universal wheel base 34; the universal wheel base 34 is connected with the top end of the lifting rod 21. It should be noted that the camera 31 can rotate within a certain range and move in front and behind through the universal wheel base 34, so that the camera 31 can rapidly acquire the image information of the two-dimensional code 511 located on the cabinet door 5.
Specifically, in this embodiment, the operating mechanical arm 4 includes a right mechanical arm 41 and a left mechanical arm 42; the right arm 41 and the left arm 42 are mounted on the lift lever 21 via a moving block 43; the ends of the right arm 41 and the left arm 42 are provided with hooks 44 for hooking the door handles of the cabinet. The right arm 41 and the left arm 42 are adjusted to have different heights by the up-and-down movement of the moving block 43 along with the up-and-down movement of the up-and-down lever 21.
Specifically, in the present embodiment, the hook 44 is in an "L" shape, and a terminal end surface of the hook 44 is provided with a terminal touch key 441 for touching the surface of the cabinet door 5; the end face of the hook 44 connected with the right mechanical arm 41 and the left mechanical arm 42 is provided with a tail end press key 442 for contacting and pressing a cabinet door handle; the end touch button 441 and the end push button 442 are electrically connected to the controller 32. It should be noted that the hook 44 is provided in an "L" shape, which is only one preferable technical solution, and the hook 44 may also be provided in an arc shape as long as the functions of the end touch key 441 and the end press key 442 can be realized. When the end touch button 441 touches the cabinet door 5, a feedback signal is sent to the controller 32 to stop the robot arm from extending forward. When the end push button 442 is pressed to the door handle of the cabinet, a feedback signal is sent to the controller 32 to stop the lowering of the lifting rod 21, and the hooks 44 of the left and right robot arms hook the door handle.
Specifically, in this embodiment, the right mechanical arm 41 and the left mechanical arm 42 are both multi-joint mechanical arms; the right mechanical arm 41 and the left mechanical arm 42 can realize multi-dimensional movement and maintain a certain curvature. It should be noted that the right mechanical arm 41 and the left mechanical arm 42 are rotationally matched through each joint to realize multi-dimensional and multi-directional movement, and can realize bending at a certain angle, so that the right mechanical arm 41 and the left mechanical arm 42 can rapidly pull the cabinet door 5.
Specifically, in the present embodiment, the bottom of the traveling chassis 1 is provided with a steering wheel 12 and a second driving device (not shown); the second driving device is connected with the direction wheel 12, and the second driving device receives the signal of the controller 32 to drive the direction wheel 12 to rotate. It should be noted that the direction wheel 12 can move forward, backward, left-turn, and right-turn according to the control signal to adjust the distance from the two-robot arm inspection robot to the cabinet door 5. Similarly, the second driving device may be one of driving motors, as well as the first driving device, and may provide driving power to the steering wheel 12.
Specifically, in the embodiment, a method for accurately opening a door of an inspection robot based on two mechanical arms includes the following steps: as shown in figures 2 to 4 of the drawings,
step 1: the cabinet door 5 is provided with two doors, and the middle of the cabinet door is opened towards two sides; a customized cabinet door handle is respectively arranged on the left door 51 and the right door 52, and a hook 44 arranged at the tail end of the operation mechanical arm 4 can hook the cabinet door handle; a specially-made positioning two-dimensional code 511 is pre-pasted on the left door 51 of the cabinet door, and the camera 31 can identify the characteristics of the positioning two-dimensional code 511; the camera 31 ascends to a specified height through the lifting rod 21, so that the camera 31 on the top of the lifting rod 21 is at the same height as the positioning two-dimensional code 511, and the step 2 is continuously executed;
step 2: acquiring image information on the left door 51 through the camera 31, and continuing to execute the step 3;
and step 3: judging whether the left door 51 image has the positioning two-dimensional code 511 characteristics or not, and executing the step 4 if the positioning two-dimensional code 511 information is acquired; if the information of the positioning two-dimensional code 511 is not acquired, executing the step 2 to continue shooting the image of the left door 51;
and 4, step 4: the controller 32 adjusts the walking chassis 1 to move left and right according to the characteristics of the positioning two-dimensional code 511, so that the lens of the camera 31 is over against the door slot of the cabinet, the center of the two-mechanical-arm inspection robot 100 is over against the door slot, and the step 5 is executed after the adjustment is finished;
and 5: referring to fig. 4, the controller 32 reads data acquired by the laser radar 11, and adjusts the walking chassis 1 to rotate left and right, so that the two mechanical arms of the inspection robot 100 are parallel to the cabinet door 5; when the laser scanning cabinet door 5 front surface emitted by the laser radar 11, the returned distance data can form a straight line; the right front of the laser radar 11 is regulated to be 0 degree, and distance values of 30 degrees left and right included angles formed between the left and right distances of the laser radar 11 from the cabinet door 5 and the 0 degree direction are read and are d1 and d2 respectively; when the front face of the double-mechanical-arm inspection robot 100 has a certain included angle with the cabinet door 5, the scanning distance of the laser radar 11 is as shown in fig. 4(a), and the scanning distance d1 of the laser radar 11 is greater than d2, the walking chassis 1 rotates rightwards relative to the cabinet door 5 to enable d1 to be equal to d2, so that the double-mechanical-arm inspection robot 100 is parallel to the cabinet door 5, and then the walking chassis 1 moves forwards and backwards to change the distance from the double-mechanical-arm inspection robot 100 to the cabinet door 5; similarly, when the scanning distance d1 of the laser radar 11 is smaller than d2, the walking chassis 1 rotates left relative to the cabinet door 5 to enable d1 to be equal to d2, so that the double-mechanical-arm inspection robot 100 runs parallel to the cabinet door 5, and then the walking chassis 1 moves back and forth to change the distance between the double-mechanical-arm inspection robot 100 and the cabinet door 5; after the step 5 is completed, the position of the double-mechanical-arm inspection robot 100 relative to the plane of the cabinet door 5 is shown in fig. 4 (b); continuing to execute the step 6;
it should be noted that, the distance values of the left and right included angles of 30 degrees formed between the left and right distances of the laser radar 11 from the cabinet door 5 and the 0-degree direction are read, which are d1 and d2, respectively, where selecting the distance value of the left and right included angles of 30 degrees of the laser radar 11 is only a preferable scheme, and may also select the distance values of the left and right included angles of 20 degrees, 45 degrees, 60 degrees, and the like, and the distance values are not limited herein; only d1 is equal to d2, and the robot 100 is in parallel with the cabinet door 5.
Step 6: the camera 31 acquires the image characteristics of the two-dimensional code 511 again, the walking chassis 1 moves left and right, the lens of the camera 31 is opposite to the door seam, the center of the double-mechanical-arm inspection robot 100 is opposite to the door seam, and the step 7 is executed after the adjustment is finished;
and 7: the right mechanical arm 41 and the left mechanical arm 42 extend forwards horizontally at the same time, and when the right mechanical arm 41 and the left mechanical arm 42 extend to a specified distance, the extending is stopped, the right mechanical arm 41 and the left mechanical arm 42 are kept at a certain bending degree, and the step 8 is continuously executed;
and 8: the walking chassis 1 advances slowly, when the touch key 441 at the tail end of one hook 44 of the right mechanical arm 41 and the left mechanical arm 42 touches the cabinet door 5, the walking chassis 1 stops advancing, and the step 9 is continuously executed;
and step 9: continuing to detect the states of the end touch keys 441 of the right mechanical arm 41 and the left mechanical arm 42, if the end touch key 441 of the left mechanical arm 42 does not touch the cabinet door 5, the left mechanical arm 42 slowly extends forwards until the end touch key 441 of the left mechanical arm 42 touches the cabinet door 5, and stopping extending forwards; if the touch button 441 at the end of the right mechanical arm 41 does not touch the cabinet door 5, the right mechanical arm 41 slowly extends forwards until the touch button 441 at the end of the right mechanical arm 41 touches the cabinet door 5, and the extending forwards is stopped; if the left mechanical arm 42 and the right mechanical arm 41 both touch the cabinet door 5, executing step 10;
step 10: the lifting rod 21 slowly descends to drive the right mechanical arm 41 and the left mechanical arm 42 to descend simultaneously, when the tail end press key 442 of at least one of the right mechanical arm 41 and the left mechanical arm 42 presses the door handle, that is, the hook 44 hooks the door handle, the lifting rod 21 stops descending, and the step 11 is continuously executed;
step 11: continuing to detect the states of the end push buttons 442 of the right arm 41 and the left arm 42, if the end push button 442 of the left arm 42 is not pressed to the left doorknob 512, the left arm 42 slowly moves down until the end push button 442 of the left arm 42 is pressed to the left doorknob 512, and stops moving down; if the end push button 442 of the right robot arm 41 does not press the right door handle 521, the right robot arm 41 slowly moves downward until the end push button 442 of the right robot arm 41 presses the right door handle 521, and then stops moving downward; if the end push button 442 of the left robot arm 42 and the end push button 442 of the right robot arm 41 are both pressed to the door handle, execute step 12;
step 12: the right mechanical arm 41 and the left mechanical arm 42 execute a planned door opening trajectory to open the cabinet door 5.
Specifically, in the embodiment, in step 1, the positioning two-dimensional code 511 pre-attached to the left door 51 of the cabinet door is located above the left door handle 512 of the cabinet door; the left door handle 512 and the right door handle 521 of the cabinet door are arranged at the same height on the cabinet door; the left door handle 512 and the right door handle 521 are horizontally spaced from the door slot of the cabinet door by the same distance.
When the double-mechanical-arm inspection robot 100 is used, the camera 31 is used for shooting the positioning two-dimensional code 511 attached to the cabinet door 5, and the position of the cabinet door 5 is positioned; the lifting rod 21 can lift and adjust the height of the camera 31 and the mechanical arm from the ground; the end touch button 441 can detect whether the mechanical arm touches the cabinet door when extending the hand; the end push button 442 may detect whether the robotic arm is pressed against the door handle; the laser radar 11 detects whether the front face of the robot is parallel to the cabinet; the walking chassis 1 can move forwards, backwards, leftwards and rightwards through the direction wheels 12 to adjust the distance between the mechanical arm and the cabinet door; the left and right mechanical arms 41 can stretch and draw the cabinet door open. According to the method, the heights of the camera 31 and the left and right mechanical arms are adjusted by combining visual positioning, ranging of the laser radar 11, movement of the walking chassis 1, adjustment of the height of the lifting rod 21, movement of the left and right mechanical arms, and tail end touch keys 441 and tail end press keys 442 arranged on the mechanical arms, so that the method for controlling the two mechanical arms to accurately open the door is realized, the cabinet door 5 can be accurately opened, the running state of equipment blocked by the cabinet door can be monitored, the working efficiency is improved, the labor cost is reduced, and the method has a wider application range.
The technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the embodiments are only used to help understanding the principles of the embodiments of the present invention; meanwhile, for a person skilled in the art, according to the embodiments of the present invention, there may be variations in the specific implementation manners and application ranges, and in summary, the content of the present description should not be construed as a limitation to the present invention.
Claims (10)
1. A method for accurately opening a door of an inspection robot based on two mechanical arms is characterized by comprising the following steps:
step 1: the cabinet door is provided with two doors, and the middle of each door is opened towards two sides; each door is provided with a customized cabinet door handle, and the tail end of the operation mechanical arm is provided with a hook which can hook the cabinet door handle; a specially-made positioning two-dimensional code is pasted on the left door of the cabinet door in advance, and a camera can identify the characteristics of the positioning two-dimensional code; the camera rises to a specified height through the lifting rod, so that the camera at the top of the lifting rod and the positioning two-dimensional code are at the same height, and the step 2 is continuously executed;
step 2: acquiring image information on the left door through the camera, and continuing to execute the step 3;
and step 3: judging whether the left door image has the positioning two-dimensional code characteristics or not, and executing the step 4 if the positioning two-dimensional code information is acquired; if the positioning two-dimensional code information is not acquired, executing the step 2 to continuously shoot the left door image;
and 4, step 4: the controller adjusts the walking chassis to move left and right according to the characteristics of the positioning two-dimensional code, so that the camera lens is opposite to the door slot of the cabinet, the center of the double-mechanical-arm inspection robot is opposite to the door slot, and the step 5 is executed after the adjustment is finished;
and 5: the controller reads data acquired by the laser radar and adjusts the walking chassis to rotate left and right, so that the two mechanical arms patrol the front of the robot and are parallel to the cabinet door; when the laser scanning cabinet door front surface is transmitted by the laser radar, the returned distance data can form a straight line; the method comprises the steps of setting the right front of a laser radar to be 0 degree, and reading distance values of a certain angle formed between the left distance of the laser radar and the right distance of a cabinet door and the 0 degree direction, wherein the distance values are d1 and d 2; when the front face of the double-mechanical-arm inspection robot has a certain included angle with the cabinet door and the distance d1 scanned by the laser radar is greater than d2, the walking chassis rotates rightwards relative to the cabinet door to enable d1 to be equal to d2, so that the double-mechanical-arm inspection robot parallel cabinet door can be enabled, and then the walking chassis moves forwards and backwards to change the distance from the double-mechanical-arm inspection robot to the cabinet door; when the scanning distance d1 of the laser radar is smaller than d2, the walking chassis rotates left relative to the cabinet door to enable d1 to be equal to d2, the double mechanical arms patrol the parallel cabinet door of the robot, and then the walking chassis moves back and forth to change the distance between the double mechanical arms patrol the robot and the cabinet door; continuing to execute the step 6;
step 6: the camera acquires the two-dimensional code image characteristics again, the walking chassis moves left and right, the lens of the camera is opposite to the door gap, the center of the double-mechanical-arm inspection robot is opposite to the door gap, and the step 7 is executed after the adjustment is finished;
and 7: the right mechanical arm and the left mechanical arm extend forwards horizontally at the same time, the extending forwards is stopped when the right mechanical arm and the left mechanical arm extend to a specified distance, the right mechanical arm and the left mechanical arm are enabled to keep a certain curvature, and the step 8 is continuously executed;
and 8: the walking chassis slowly advances, when the tail end of one hook of the right mechanical arm and the left mechanical arm touches the cabinet door through a touch key, the walking chassis stops advancing, and the step 9 is continuously executed;
and step 9: continuously detecting the terminal touch key states of the right mechanical arm and the left mechanical arm, if the terminal touch key of the left mechanical arm does not touch the cabinet door, slowly extending the left mechanical arm forwards until the terminal touch key of the left mechanical arm touches the cabinet door, and stopping extending forwards; if the tail end touch key of the right mechanical arm does not touch the cabinet door, the right mechanical arm slowly extends forwards until the tail end touch key of the right mechanical arm touches the cabinet door, and the forward extension is stopped; if the left mechanical arm and the right mechanical arm touch the cabinet door, executing the step 10;
step 10: the lifting rod slowly descends to drive the right mechanical arm and the left mechanical arm to descend simultaneously, when the tail end of at least one of the right mechanical arm and the left mechanical arm presses a button to a door handle, namely the hook hooks the door handle, the lifting rod stops descending, and the step 11 is continuously executed;
step 11: continuously detecting the pressing state of the tail ends of the right mechanical arm and the left mechanical arm, and if the pressing state of the tail end of the left mechanical arm is not pressed to the left door handle, slowly moving the left mechanical arm downwards until the pressing state of the tail end of the left mechanical arm is pressed to the left door handle, and stopping moving downwards; if the press key at the tail end of the right mechanical arm is not pressed on the right door handle, the right mechanical arm slowly moves downwards until the press key at the tail end of the right mechanical arm is pressed on the right door handle, and the right mechanical arm stops moving downwards; if the tail end press key of the left mechanical arm and the tail end press key of the right mechanical arm are both pressed to the door handle, executing the step 12;
step 12: and the right mechanical arm and the left mechanical arm execute the planned door opening track and open the cabinet door.
2. The method for accurately opening the door of the inspection robot based on the double mechanical arms according to claim 1, is characterized in that: in the step 1, the positioning two-dimensional code pre-pasted on the left door of the cabinet door is positioned above the left door handle of the cabinet door; the left door handle and the right door handle of the cabinet door are arranged on the cabinet door at the same height; the distance from the left door handle of the cabinet door to the door slot of the cabinet door is the same as that from the right door handle of the cabinet door along the horizontal direction.
3. The method for accurately opening the door of the inspection robot based on the double mechanical arms according to claim 1, is characterized in that: in the step 5, reading distance values of a left included angle and a right included angle of 30 degrees formed between the left distance cabinet door and the right distance cabinet door of the laser radar and the direction of 0 degree, wherein the distance values are d1 and d2 respectively; d1 is greater than d2 or d1 is less than d2 or d1 is equal to d 2.
4. A double-arm inspection robot using the method according to any one of claims 1-3, which is used for machine room inspection, and is characterized in that: comprises a walking chassis; a lifting device is arranged in the middle of the walking chassis in the vertical upward direction; the top end of the lifting device is provided with a visual positioning device for identifying a positioning two-dimensional code on the cabinet door; an operation mechanical arm is arranged on the lifting device; the lifting device drives the operation mechanical arm to move to different heights; the front end of the walking chassis is provided with a laser radar which is positioned on the same straight line with the lifting device; and the laser radar detects whether the front surface of the inspection robot is parallel to the cabinet.
5. The double-mechanical-arm inspection robot according to claim 4, wherein: the lifting device comprises a lifting rod and a first driving device; the first driving device is connected with the lifting rod and drives the lifting rod to move up and down; the first driving device is arranged at the bottom of the walking chassis.
6. The double-mechanical-arm inspection robot according to claim 5, wherein: the visual positioning device comprises a camera, a controller, a mounting bottom plate and a universal wheel base for adjusting the direction of the camera; the camera is electrically connected with the controller and sends the image information of the positioning two-dimensional code to the controller; the camera and the controller are respectively arranged on the upper end surface of the mounting bottom plate; the lower end surface of the mounting bottom plate is connected with the universal wheel base; the universal wheel base is connected with the top end of the lifting rod.
7. The double-mechanical-arm inspection robot according to claim 6, wherein: the operation mechanical arm comprises a right mechanical arm and a left mechanical arm; the right mechanical arm and the left mechanical arm are arranged on the lifting rod through moving blocks; the tail ends of the right mechanical arm and the left mechanical arm are provided with hooks for hooking door handles of the cabinet.
8. The double-manipulator inspection robot according to claim 7, wherein: the hook is L-shaped, and the end face of the tail end of the hook is provided with a tail end touch key used for touching the surface of the cabinet door; the end face of the hook connected with the right mechanical arm and the left mechanical arm is provided with a tail end press key used for pressing a cabinet door handle in a contact manner; the tail end touch key and the tail end press key are electrically connected with the controller.
9. The double-manipulator inspection robot according to claim 8, wherein: the right mechanical arm and the left mechanical arm are both multi-joint mechanical arms; the right mechanical arm and the left mechanical arm can realize multi-dimensional motion and keep a certain curvature.
10. The double-mechanical-arm inspection robot according to claim 4, wherein: the bottom of the walking chassis is provided with a direction wheel and a second driving device; the second driving device is connected with the direction wheel and receives signals of the controller to drive the direction wheel to rotate.
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| JP7240304B2 (en) * | 2019-11-25 | 2023-03-15 | Ｔｏｗａ株式会社 | Blade changer and cutting system |
| CN111923042B (en) * | 2020-07-21 | 2022-05-24 | 北京全路通信信号研究设计院集团有限公司 | Virtualization processing method and system for cabinet grid and inspection robot |
| CN112706172A (en) * | 2020-11-19 | 2021-04-27 | 国网浙江省电力有限公司宁波供电公司 | Remotely controllable robot for a power distribution station |
| CN114248275B (en) * | 2021-12-01 | 2024-02-13 | 广东恒鑫智能装备股份有限公司 | Door opening mechanism of dish washer |
| CN114734464B (en) * | 2022-06-10 | 2022-08-09 | 福建（泉州）哈工大工程技术研究院 | Automatic door opening and closing chamber mobile robot and door opening and closing method |
| CN115502992B (en) * | 2022-09-22 | 2023-05-19 | 国网湖北省电力有限公司黄石供电公司 | High-voltage switch room fault danger-removing and fire-fighting intelligent disposal robot |
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