CN112157662B - Blasting robot - Google Patents

Abstract

The invention relates to a blasting robot, which comprises a walking obstacle crossing chassis, a mechanical arm base, a mechanical arm, a mechanical claw, an electric push rod, an industrial personal computer and a collecting device, wherein the electric push rod is used for pushing a hole plugging object clamped on the mechanical claw into a hole to be plugged; the laser sensor control device is used for sending a second control instruction to the industrial personal computer according to the environmental information collected by the laser sensor, so that the industrial personal computer controls the walking obstacle crossing chassis to walk to a preset position. The invention solves the problem that the current blasting robot cannot surmount the obstacle and cannot locate and identify the hole to be blocked.

Description

a blasting robot

technical field

The invention relates to the technical field of blasting robots, in particular to a blasting robot.

Background technique

In railways, mines, reservoirs, tunnels, old buildings and other projects, blasting technology has played a very critical role. In recent years, with the development of science and technology, the automatic filling of explosives, detonators and plug holes in old buildings, tunnels and projects with blasting robots is mainly done manually. 1. Drill holes on the column in advance, and then rely on the experience of workers to fill the holes with explosives, detonators and plugs in sequence.

However, with the increase in the amount of blasting work, the number of holes to be filled increases greatly, resulting in increased labor intensity and personal safety risks for workers. The environment of the blasting site is harsh, and there will be accumulation of gravel and muddy road sections, which requires the blasting robot to have the ability to climb over obstacles. The practicability of the robot is not strong at present, and it cannot meet the requirements of blasting engineering.

At the same time, due to the many holes on the walls and columns of old buildings, tunnels, mines, etc., automatic identification of each hole cannot be realized only through the mechanical arm of the blasting robot. For example, the blasting robot involved in the patent with the application number CN201621035834.7, although equipped with a mechanical arm, cannot accurately locate and automatically identify the hole to be plugged.

Contents of the invention

In view of this, it is necessary to provide a blasting robot to solve the problems that the current blasting robot cannot overcome obstacles and cannot locate and identify holes to be plugged.

The invention provides a blasting robot, which includes a walking obstacle-crossing chassis, a mechanical arm base, a mechanical arm, a mechanical claw, an electric push rod, an industrial computer and a collection device, wherein,

Both the base of the mechanical arm and the industrial computer are fixedly installed on the chassis of the walking obstacle, the mechanical arm is fixed on the base of the mechanical arm, the claws and the electric push rod are fixed on the The end of the mechanical arm, the electric push rod is used to push the plug hole held on the mechanical claw into the hole to be plugged, the industrial computer is connected with the walking obstacle chassis, mechanical arm, mechanical claw and electric push rod electrical connection;

The collection device includes a collection device base, a pan-tilt lifting mechanism, a visual sensor, a laser sensor, a visual sensor control device, and a laser sensor control device. The collection device base is fixedly installed on the walking obstacle-crossing chassis. The lifting mechanism is fixed on the base of the acquisition device, the visual sensor, laser sensor, visual sensor control device and laser sensor control device are all fixedly installed on the pan-tilt lifting mechanism, and the visual sensor and the visual sensor control The device is electrically connected, and the pan-tilt lifting mechanism, the visual sensor control device and the laser sensor control device are all electrically connected to the industrial control machine;

The visual sensor control device is used to send a first control instruction to the industrial computer according to the image information of the hole to be blocked, so that the industrial computer controls the movement of the mechanical arm and aligns the hole to be blocked; the laser sensor controls The device is used to send a second control instruction to the industrial computer according to the environmental information collected by the laser sensor, so that the industrial computer controls the walking obstacle-crossing chassis to move to a predetermined position. .

Preferably, in the blasting robot, the robotic arm is a six-degree-of-freedom robotic arm.

Preferably, in the blasting robot, the platform lifting mechanism includes a stable platform and a lifting device, the stable platform is fixed on the lifting device, and the lifting device is fixed on the base of the collection device superior.

Preferably, in the blasting robot, the visual sensor control device includes a capture module, an information processing module and a first control module connected in sequence, wherein,

The capture module is used to capture the image information collected by the visual sensor;

The information processing module is used to generate position and size information of holes to be blocked according to the image information;

The first control module is used to generate a first control instruction according to the position and size information of the hole to be plugged, and send it to the industrial computer.

Preferably, in the blasting robot, the capture module is specifically used to capture the image information of the hole to be blocked collected by the vision sensor or input in advance.

Preferably, in the blasting robot, the first control module is specifically configured to determine the target state of the industrial computer corresponding to the position and size information of the hole to be plugged, and generate the first control command according to the determined target state of the industrial computer; or

Comparing the position and size information of the hole to be plugged with the preset reference information, determining the target state of the industrial computer according to the comparison result and the reference state of the industrial computer, and generating the first control command according to the determined target state of the industrial computer.

Preferably, in the blasting robot, the first control instruction includes at least a control instruction of the movement path of the mechanical arm and a control instruction of the pan-tilt lifting mechanism.

Preferably, in the blasting robot, the capture module is further configured to capture map information of the surface to be filled before generating the first control command.

Preferably, in the blasting robot, the laser sensor control device includes an acquisition module, an information conversion module, a generation module, a judgment module and a second control module, wherein,

The collection module is used to obtain the environmental information collected by the laser sensor;

The information conversion module is used for processing according to the environmental information;

The generating module is used to generate a two-dimensional map of the blasting ground environment according to the processed environmental information;

The judging module is used to locate the current position of the blasting robot according to the generated two-dimensional map of the blasting ground environment, and judge the deviation between the current position and the predetermined position;

The second control module is used to generate a second control command according to the deviation between the current position and the predetermined position, and send the second control command to the industrial computer.

Preferably, in the blasting robot, the second control instruction includes at least a traveling speed control instruction and a traveling direction control instruction of the blasting robot.

【Beneficial effect】

The blasting robot provided by the present invention can grasp and fill the plug holes such as explosives and detonators by setting up the mechanical arm, the mechanical claw and the electric push rod. The ability of obstacles, through the image processing function of the visual sensor control device, can realize the identification and positioning of the size and position of the hole to be blocked; through the environmental information processing function of the laser sensor control device, it can realize the navigation and positioning of the blasting robot .

Description of drawings

Fig. 1 is a schematic structural view of a preferred embodiment of the blasting robot provided by the present invention;

Fig. 2 is a structural block diagram of a preferred embodiment of the visual sensor control device in the blasting robot provided by the present invention;

Fig. 3 is a structural block diagram of a preferred embodiment of the laser sensor control device in the blasting robot provided by the present invention;

Fig. 4 is a flow chart of a specific embodiment of the blasting robot provided by the present invention filling a hole.

Detailed ways

Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and together with the embodiments of the present invention are used to explain the principle of the present invention and are not intended to limit the scope of the present invention.

Please refer to Fig. 1, the blasting robot provided by the embodiment of the present invention includes a walking obstacle surmounting chassis 1, a mechanical arm base 2, a mechanical arm 3, a mechanical claw 4, an electric push rod 5, an industrial computer 6 and an acquisition device 7, wherein,

Both the manipulator base 2 and the industrial computer 6 are fixedly mounted on the walking obstacle surmounting chassis 1, the manipulator 3 is fixed on the manipulator base 2, the mechanical claw 4 and the electric pusher Rod 5 is all fixed on the end of described mechanical arm 3, and described electric push rod 5 is used for pushing the plug hole thing (such as explosives, detonator etc.) clamped on mechanical claw 4 in the hole that needs plugging, and described industrial control The machine 6 is electrically connected with the walking obstacle-crossing chassis 1, the mechanical arm 3, the mechanical claw 4 and the electric push rod 5;

The collection device 7 includes a collection device base 71, a pan-tilt lifting mechanism 72, a visual sensor 73, a laser sensor 74, a visual sensor control device 75 and a laser sensor control device 76, and the collection device base 71 is fixedly installed on the walking platform. On the barrier chassis 1, the pan-tilt lifting mechanism 72 is fixed on the collection device base 71, and the visual sensor 73, laser sensor 74, visual sensor control device 75 and laser sensor control device 76 are all fixedly installed on the cloud. On the platform lifting mechanism 72, the visual sensor 73 is electrically connected to the visual sensor control device 75, and the cloud platform lifting mechanism 72, the visual sensor control device 75 and the laser sensor control device 76 are all connected to the industrial computer 6 electrical connection;

The visual sensor control device 75 is used to send a first control instruction to the industrial computer 6 according to the image information of the hole to be blocked, so that the industrial computer 6 controls the action of the mechanical arm 3 and aligns the hole to be blocked; The laser sensor control device 76 is used to send a second control instruction to the industrial computer 6 according to the environmental information collected by the laser sensor 74, so that the industrial computer 6 controls the walking obstacle-crossing chassis 1 to move to a predetermined position.

Specifically, since the blasting robot in the present invention is provided with a walking obstacle-crossing chassis 1, it can bear the weight of the entire blasting robot, and carry the blasting robot to walk over obstacles. The mechanical arm 3 can drive the mechanical claw 4 for clamping the plug hole. Movement, so that the mechanical claw 4 clamps the plugging object to the hole to be blocked, and then pushes the plugged object held by the mechanical claw 4 into the hole to be plugged through the electric push rod 5; the pan-tilt lifting mechanism 72 can change the visual The position of sensor 73 and laser sensor 74, thereby obtains the image information of each orientation and environmental information; Described visual sensor 73 is used for collecting the image information of hole that needs plugging, so that described visual sensor control device 75 can be based on the image information that gathers Identify the size and position of the hole to be blocked, and then send the first control command to the industrial computer 6, so that the industrial computer 6 can control the mechanical arm 3 to align with the hole to be blocked, and then the electric push rod 5 clamps the mechanical claw 4 Push the plugged object held in the hole to be plugged, so as to realize the size and position recognition and positioning of the hole to be plugged; the laser sensor 74 is used to collect environmental information, so that the laser sensor control device 76 can issue a second control The command is sent to the industrial computer 6, and then the industrial computer 6 controls the movement of the walking obstacle-crossing chassis 1 to the target location.

The invention can realize the grabbing and filling of plugging materials such as explosives and detonators, and can realize the recognition and positioning of the size and position of the hole to be plugged through the image processing function of the visual sensor control device; The environmental information processing function can realize the navigation and positioning of the blasting robot.

In a further embodiment, the obstacle-crossing chassis 1 is a crawler-type tank chassis, including two main crawlers, which can bear the weight of the mechanical system and the acquisition system, and carry the body of the blasting robot to walk over obstacles.

In a further embodiment, please continue to refer to FIG. 1 , the mechanical arm 3 is a six-degree-of-freedom mechanical arm consisting of six joints, and each joint can achieve precise positions and angles through the control of the industrial computer 6 control, the mechanical arm 3 is connected to the industrial computer 6 through the CAN bus. The specific structure of the six-degree-of-freedom manipulator belongs to the prior art, and will not be repeated here.

Please continue to refer to Figure 1, the mechanical gripper 4 includes a mechanical gripper body and several drive motors, the mechanical gripper body has at least two grippers, each of the drive motors is connected to a gripper respectively, and is used to drive each gripper close to or far away from each other, so that the mechanical claw body can be opened and closed freely, and then clamp or loosen the plug hole, each of the drive motors is electrically connected to the industrial computer 6, and the operation is controlled by the industrial computer 6, Specifically through the CAN bus connection.

Please continue to refer to Figure 1, the electric push rod 5 includes a DC motor, a cylinder liner, a push rod and a piston, the output shaft of the DC motor is connected to one end of the piston, and the cylinder liner is sleeved on the piston, The other end of the piston is connected to the push rod, and the push rod is used to push the plug hole held on the mechanical claw 4 into the hole to be plugged, and the DC motor is electrically connected to the industrial computer 6, specifically Connection via CAN bus. The electric push rod 4 is installed directly below the forearm of the mechanical arm 3 and is driven by a DC motor. The minimum push rod stroke is 500mm, and the minimum thrust is 1000N. When the industrial computer 6 sends a signal to control the push rod to push out, the movement track of the push rod is located at the center of the mechanical claw 4, so that the push rod can accurately push the explosives, detonators and plugs captured by the mechanical claw 4 into the hole Inside.

The cloud platform lifting mechanism 72 includes a stable platform 721 and a lifting device 722, the stable platform 721 is fixedly arranged on the lifting device 722, and the lifting device 722 is fixedly arranged on the acquisition device base 71, so The lifting device 722 is used to realize the rise and fall of the stable platform 721, and the stable platform 721 is used to realize the self-adaptive adjustment of the three-axis rotation. Described visual sensor 73, laser sensor 74, visual sensor control device 75 and laser sensor control device 76 are all installed on the stable platform 721, and visual sensor 73 and visual sensor control device 75 are installed on the side of stable platform 721, laser The sensor 74 and the visual sensor control device 76 are installed on the other side of the stable pan-tilt 721 , which is easy to maintain the relative balance of the pan-tilt lifting mechanism 72 .

Please also refer to FIG. 2, the visual sensor control device 75 includes a capture module 751, an information processing module 752 and a first control module 753 connected in sequence, wherein,

The capture module 751 is used to capture the image information collected by the visual sensor 73;

The information processing module 752 is used to generate position and size information of holes to be blocked according to the image information;

The first control module 753 is used to generate a first control command according to the position and size information of the hole to be plugged, and send it to the industrial computer 6 .

Specifically, the capture module 751 is specifically configured to capture the image information of the hole to be plugged collected by the visual sensor or input in advance. In other words, the capture module 751 can directly acquire the image information of the hole to be plugged collected by the visual sensor 73 , or can acquire the image information of the hole to be plugged inputted in advance by the operator.

Further, in one embodiment, the first control module 753 is specifically configured to determine the target state of the industrial computer corresponding to the position and size information of the hole to be plugged, and generate the first control command according to the determined target state of the industrial computer .

In another embodiment, the first control module 753 specifically compares the position and size information of the hole to be plugged with preset reference information, and determines the target state of the industrial computer according to the comparison result and the reference state of the industrial computer. The determined target state of the industrial computer is used to generate the first control command.

Further, the first control command is a control command for the blasting robot itself, at least including a control command for the movement path of the mechanical arm and a control command for the pan-tilt lifting mechanism. The industrial computer 6 can control the mechanical arm 3 or the pan-tilt lifting mechanism 72 according to the first control instruction.

In a further embodiment, the capture module 751 is further configured to capture at least one of map information such as walls to be filled, cylinders, etc. before generating the corresponding first control command according to the image information of the holes to be plugged. Therefore, in order to ensure that the generated first control instruction can precisely control the robotic arm to align with the hole to be plugged, the first control module 753 is also used for at least one of map information such as the wall to be filled, the cylinder, and the required The image information of the blocked hole is used to generate a corresponding first control command.

Please also refer to FIG. 3 , the laser sensor control device 76 includes an acquisition module 761, an information conversion module 762, a generation module 763, a judgment module 764 and a second control module 765, wherein,

The collection module 761 is used to obtain the environmental information collected by the laser sensor 74, and the environmental information includes at least one of ground environment information, map information and obstacle information;

The information conversion module 762 is configured to perform processing according to the environmental information, specifically to identify and calculate the environmental information;

The generation module 763 is used to generate a two-dimensional map of the blasting ground environment according to the processed environmental information, specifically according to the fusion of the environmental information and the information of the encoder 8 to generate the two-dimensional map;

The judging module 764 is used to locate the current position of the blasting robot according to the generated two-dimensional map of the blasting ground environment, and judge the deviation between the current position and the predetermined position;

The second control module 765 is used to generate a second control command according to the deviation between the current position and the predetermined position, and send the second control command to the industrial computer 6, so that the industrial computer 6 controls the walking The obstacle surmounting chassis 1 carries out corresponding movement.

Specifically, the signal input end of the acquisition module 761 is connected with the output unit of the laser sensor 74, the signal input end of the information conversion module 762 is connected with the signal output end of the acquisition module 761, and the signal input end of the generation module 763 is connected with the information conversion module The signal output end of 762 is connected, the signal output end of encoder 8 is connected with another signal input end of generating module 763, the signal input end of judging module 764 is connected with the signal output end of generating module 763, and the control instruction module 765 The signal input terminal of is connected to the signal output terminal of the judging module 764 .

Further, the second control instruction includes at least a traveling speed control instruction of the blasting robot and a traveling direction control instruction of the blasting robot. It can precisely control the walking speed and direction of the blasting robot.

In order to better understand the present invention, below in conjunction with Fig. 4, illustrate the working method of blasting robot to finish the filling task of a hole, comprise the steps:

Step 1. The blasting robot navigates and walks to the position in front of walls, pillars, etc. that need to be filled with explosives and detonators through the laser sensor 74, and obtains the position of the orifice that needs to be filled through the visual sensor 73;

Step 2, the blasting robot controls the mechanical claw 4 to grab and hold the explosive, and the blasting robot controls the mechanical arm 3 to move to the orifice position;

Step 3. The blasting robot sends a push rod command to the electric push rod 5, and the electric push rod 5 retracts after receiving the push rod command and completing the push rod action;

Step 4. The blasting robot controls the mechanical claw 4 to grab and hold the detonator. After the blasting robot controls the mechanical arm 3 to move to the position of the orifice, repeat step 3;

Step 5. The blasting robot controls the mechanical claw 3 to grab and hold the plug hole. After the blasting robot controls the mechanical arm 3 to move to the position of the hole, repeat step 3;

Step 6: After the mechanical arm 3 receives the signal that the electric push rod 5 is in place, it retracts the mechanical arm 3 to complete the task of filling a hole.

In summary, the blasting robot provided by the present invention can grasp and fill the plug holes such as explosives and detonators by setting the mechanical arm, the mechanical claw and the electric push rod. With a certain ability to climb over obstacles, through the image processing function of the visual sensor control device, it can realize the identification and positioning of the size and position of the hole to be blocked; through the environmental information processing function of the laser sensor control device, it can realize blasting Navigation and localization of robots.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present invention can easily think of changes or Replacement should be covered within the protection scope of the present invention.

Claims (5)

1. A method for blasting filling by using a blasting robot, which is characterized in that:

step one, guiding the blasting robot to travel to a position in front of a wall surface or a pillar needing to be filled with explosive and detonator by a laser sensor, and obtaining the position of an orifice needing to be filled by a visual sensor;

step two, the blasting robot controls the mechanical claw to grasp and clamp the explosive and controls the mechanical arm to move to the orifice position;

step three, the blasting robot sends a push rod instruction to the electric push rod, and the electric push rod receives the push rod instruction to retract after completing push rod action;

fourthly, the blasting robot controls the mechanical claw to grasp and clamp the detonator, controls the mechanical arm to move to the orifice position, and repeats the third step;

step five, the blasting robot controls the mechanical claw to grasp and clamp the hole plugging object, and controls the mechanical arm to move to the hole opening position, and then the step three is repeated;

step six, after the mechanical arm receives the in-place signal of the electric push rod, the mechanical arm is retracted, and the filling task of one hole is completed;

the blasting robot comprises a walking obstacle crossing chassis, a mechanical arm base, a mechanical arm, a mechanical claw, an electric push rod, an industrial personal computer and a collecting device, wherein the mechanical arm base and the industrial personal computer are fixedly arranged on the walking obstacle crossing chassis, the mechanical arm is fixed on the mechanical arm base, the mechanical claw and the electric push rod are fixed at the tail end of the mechanical arm, the electric push rod is used for pushing a plug hole clamped on the mechanical claw into a hole to be plugged, and the industrial personal computer is electrically connected with the walking obstacle crossing chassis, the mechanical arm, the mechanical claw and the electric push rod;

the acquisition device comprises an acquisition device base, a tripod head lifting mechanism, a visual sensor, a laser sensor, a visual sensor control device and a laser sensor control device, wherein the acquisition device base is fixedly arranged on the walking obstacle crossing chassis, the tripod head lifting mechanism is fixed on the acquisition device base, the visual sensor, the laser sensor, the visual sensor control device and the laser sensor control device are fixedly arranged on the tripod head lifting mechanism, the visual sensor is electrically connected with the visual sensor control device, and the tripod head lifting mechanism, the visual sensor control device and the laser sensor control device are electrically connected with the industrial control computer;

the vision sensor control device comprises a capturing module, an information processing module and a first control module which are sequentially connected, wherein:

the capturing module is used for capturing image information acquired by the vision sensor;

the information processing module is used for generating position and size information of the holes to be plugged according to the image information;

the first control module is used for generating a first control instruction according to the position and size information of the hole to be plugged and the map information of the surface to be filled captured by the capture module, and sending the first control instruction to the industrial personal computer;

the laser sensor control device comprises an acquisition module, an information conversion module, a generation module, a judgment module and a second control module, wherein:

the acquisition module is used for acquiring environment information acquired by the laser sensor; the information conversion module is used for processing according to the environment information;

the generation module is used for generating a two-dimensional map of the blasting ground environment according to the processed environment information;

the judging module is used for positioning the current position of the blasting robot according to the generated two-dimensional map of the blasting ground environment and judging the deviation between the current position and the preset position;

the second control module is used for generating a second control instruction according to the deviation between the current position and the preset position and sending the second control instruction to the industrial personal computer.

2. The method of claim 1, wherein the robotic arm is a six degree of freedom robotic arm.

3. The method of claim 1, wherein the pan-tilt-lift mechanism comprises a stabilization pan-tilt and a lift device, the stabilization pan-tilt being fixedly disposed on the lift device, the lift device being fixedly disposed on the collection device base.

4. The method of claim 1, wherein the first control command comprises at least a robotic arm motion path control command and a pan/tilt lift mechanism control command.

5. The method of claim 1, wherein the second control instructions comprise at least a blasting robot travel speed control instruction and a blasting robot travel direction control instruction.

Images