CN112157662B - Blasting robot - Google Patents

Blasting robot Download PDF

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Publication number
CN112157662B
CN112157662B CN202010924096.6A CN202010924096A CN112157662B CN 112157662 B CN112157662 B CN 112157662B CN 202010924096 A CN202010924096 A CN 202010924096A CN 112157662 B CN112157662 B CN 112157662B
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module
mechanical arm
push rod
blasting
hole
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CN112157662A (en
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曾凡琮
左治江
谭昕
黄小武
秦工
李涵
高军
潘利波
赵培宇
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Jianghan University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme 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
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42AMMUNITION; BLASTING
    • F42DBLASTING
    • F42D1/00Blasting methods or apparatus, e.g. loading or tamping
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

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

一种爆破机器人a blasting robot

技术领域technical field

本发明涉及爆破机器人技术领域,尤其涉及一种爆破机器人。The invention relates to the technical field of blasting robots, in particular to a blasting robot.

背景技术Background technique

在铁路、矿山、水库、隧道、旧建筑物等工程中,爆破技术起到了非常关键的作用。近年来,随着科学技术的发展,用爆破机器人自动完成旧建筑物、隧道、工程中炸药、雷管和塞孔物的填充主要是采取人工填充的方式,在旧建筑物、隧道、矿山等壁面、立柱上事先进行打孔,然后依靠工人经验将炸药、雷管和塞孔物依次填充入孔。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.

但随着爆破工程量的增大,需要填充的孔数量大大增加,从而导致工人的劳动强度和人身安全风险增大。爆破现场环境恶劣,会有碎石堆积以及泥泞的路段,这就需要爆破机器人也有一定攀越障碍物的能力。现在机器人的实用性不强,无法满足爆破工程的要求。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.

同时,由于旧建筑物、隧道、矿山等壁面、立柱上的孔众多,仅仅通过爆破机器人的机械臂无法实现对每个孔的自动识别。如申请号为CN201621035834.7的专利所涉及的爆破机器人,虽然安装有机械臂,但是无法实现对需堵塞孔的准确定位和自动识别。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.

发明内容Contents of the invention

有鉴于此,有必要提供一种爆破机器人,用以解决目前爆破机器人无法越障以及无法对需堵塞孔进行定位和识别的问题。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.

本发明提供一种爆破机器人,包括行走越障底盘、机械臂底座、机械臂、机械爪、电动推杆、工控机和采集装置,其中,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,

所述机械臂底座和所述工控机均固定安装在所述行走越障底盘上,所述机械臂固定于所述机械臂底座上,所述机械爪和所述电动推杆均固定于所述机械臂的末端,所述电动推杆用于将机械爪上夹持的塞孔物推入需堵塞孔中,所述工控机与所述行走越障底盘、机械臂、机械爪和电动推杆电连接;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;

所述采集装置包括采集装置底座、云台升降机构、视觉传感器、激光传感器、视觉传感器控制装置和激光传感器控制装置,所述采集装置底座固定安装在所述行走越障底盘上,所述云台升降机构固定于所述采集装置底座上,所述视觉传感器、激光传感器、视觉传感器控制装置和激光传感器控制装置均固定安装在所述云台升降机构上,所述视觉传感器与所述视觉传感器控制装置电连接,所述云台升降机构、所述视觉传感器控制装置和激光传感器控制装置均与所述工控机电连接;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;

所述视觉传感器控制装置用于根据需堵塞孔的图像信息发出第一控制指令至所述工控机,以使所述工控机控制所述机械臂动作并对准需堵塞孔;所述激光传感器控制装置用于根据激光传感器采集的环境信息发出第二控制指令至所述工控机,以使所述工控机控制所述行走越障底盘行走到预定位置。。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. .

优选的,所述的爆破机器人中,所述机械臂为六自由度机械臂。Preferably, in the blasting robot, the robotic arm is a six-degree-of-freedom robotic arm.

优选的,所述的爆破机器人中,所述云台升降机构包括稳定云台以及升降装置,所述稳定云台固定设置在所述升降装置上,所述升降装置固定设置在所述采集装置底座上。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.

优选的,所述的爆破机器人中,所述视觉传感器控制装置包括依次连接的捕捉模块、信息处理模块以及第一控制模块,其中,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,

所述捕捉模块用于捕捉所述视觉传感器采集的图像信息;The capture module is used to capture the image information collected by the visual sensor;

所述信息处理模块用于根据所述图像信息生成需堵塞孔的位置和尺寸信息;The information processing module is used to generate position and size information of holes to be blocked according to the image information;

所述第一控制模块用于根据所述需堵塞孔的位置和尺寸信息生成第一控制指令,并发送给所述工控机。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.

优选的,所述的爆破机器人中,所述捕捉模块具体用于捕捉所述视觉传感器采集的或者预先输入的需堵塞孔的图像信息。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.

优选的,所述的爆破机器人中,所述第一控制模块具体用于确定需堵塞孔的位置和尺寸信息对应的工控机目标状态,根据确定的工控机目标状态生成所述第一控制命令;或者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

将需堵塞孔的位置和尺寸信息与预设的基准信息进行比较,根据比较结果和工控机基准状态,确定工控机目标状态后,根据确定的工控机目标状态,生成所述第一控制命令。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.

优选的,所述的爆破机器人中,所述第一控制指令至少包括包括机械臂动作路径控制指令以及云台升降机构控制指令。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.

优选的,所述的爆破机器人中,所述捕捉模块还用于在生成第一控制命令之前,捕捉待填充面的地图信息。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.

优选的,所述的爆破机器人中,所述激光传感器控制装置包括采集模块、信息转换模块、生成模块、判断模块以及第二控制模块,其中,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,

所述采集模块用于获取激光传感器采集的环境信息;The collection module is used to obtain the environmental information collected by the laser sensor;

所述信息转换模块用于根据所述环境信息进行处理;The information conversion module is used for processing according to the environmental information;

所述生成模块用于根据处理后的环境信息生成爆破地面环境的二维地图;The generating module is used to generate a two-dimensional map of the blasting ground environment according to the processed environmental information;

所述判断模块用于根据生成的爆破地面环境的二维地图对爆破机器人的当前位置进行定位,并判断当前位置与预定位置的偏差;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;

所述第二控制模块用于根据当前位置与预定位置的偏差生成第二控制指令,并将所述第二控制指令发送至所述工控机。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.

优选的,所述的爆破机器人中,所述第二控制指令至少包括爆破机器人行进速度控制指令和爆破机器人行进方向控制指令。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.

【有益效果】【Beneficial effect】

本发明提供的爆破机器人,通过设置机械臂、机械爪和电动推杆,可以实现对炸药、雷管等塞孔物的抓取和填充,通过设置行走越障底盘,使爆破机器人具有一定的攀越障碍物的能力,通过视觉传感器控制装置的图像处理功能,能够实现对需堵塞孔的孔口尺寸位置的识别和定位;通过激光传感器控制装置的环境信息处理功能,能够实现爆破机器人的导航和定位。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 .

附图说明Description of drawings

图1为本发明提供的爆破机器人的一较佳实施例的结构示意图;Fig. 1 is a schematic structural view of a preferred embodiment of the blasting robot provided by the present invention;

图2为本发明提供的爆破机器人中,所述视觉传感器控制装置的一较佳实施例的结构框图;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;

图3为本发明提供的爆破机器人中,所述激光传感器控制装置的一较佳实施例的结构框图;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;

图4为本发明提供的爆破机器人在进行一个孔的填装的一具体实施例的流程图。Fig. 4 is a flow chart of a specific embodiment of the blasting robot provided by the present invention filling a hole.

具体实施方式Detailed ways

下面结合附图来具体描述本发明的优选实施例,其中,附图构成本申请一部分,并与本发明的实施例一起用于阐释本发明的原理,并非用于限定本发明的范围。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.

请参阅图1,本发明实施例提供的爆破机器人,包括行走越障底盘1、机械臂底座2、机械臂3、机械爪4、电动推杆5、工控机6和采集装置7,其中,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,

所述机械臂底座2和所述工控机6均固定安装在所述行走越障底盘1上,所述机械臂3固定于所述机械臂底座2上,所述机械爪4和所述电动推杆5均固定于所述机械臂3的末端,所述电动推杆5用于将机械爪4上夹持的塞孔物(例如炸药、雷管等物品)推入需堵塞孔中,所述工控机6与所述行走越障底盘1、机械臂3、机械爪4和电动推杆5电连接;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;

所述采集装置7包括采集装置底座71、云台升降机构72、视觉传感器73、激光传感器74、视觉传感器控制装置75和激光传感器控制装置76,所述采集装置底座71固定安装在所述行走越障底盘1上,所述云台升降机构72固定于所述采集装置底座71上,所述视觉传感器73、激光传感器74、视觉传感器控制装置75和激光传感器控制装置76均固定安装在所述云台升降机构72上,所述视觉传感器73与所述视觉传感器控制装置75电连接,所述云台升降机构72、所述视觉传感器控制装置75和激光传感器控制装置76均与所述工控机6电连接;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;

所述视觉传感器控制装置75用于根据需堵塞孔的图像信息发出第一控制指令至所述工控机6,以使所述工控机6控制所述机械臂3动作并对准需堵塞孔;所述激光传感器控制装置76用于根据激光传感器74采集的环境信息发出第二控制指令至所述工控机6,以使所述工控机6控制所述行走越障底盘1行走到预定位置。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.

具体来说,本发明中爆破机器人由于设置有行走越障底盘1,能够承受整个爆破机器人的重量,并承载爆破机器人越障行走,机械臂3能够带动用于夹持塞孔物的机械爪4运动,从而使机械爪4将塞孔物夹持到需堵塞孔处,然后通过电动推杆5将机械爪4夹持的塞孔物推入需堵塞孔中;云台升降机构72可以改变视觉传感器73和激光传感器74的位置,从而获取各个方位的图像信息和环境信息;所述视觉传感器73用于采集需堵塞孔的图像信息,以使所述视觉传感器控制装置75能够根据采集的图像信息识别出需堵塞孔的大小和位置,进而发出第一控制指令给工控机6,使所述工控机6能够控制机械臂3对准需堵塞孔,然后由电动推杆5将机械爪4上夹持的塞孔物推入需堵塞孔中,从而实现对需堵塞孔的尺寸及位置识别和定位;所述激光传感器74用于采集环境信息,使所述激光传感器控制装置76能够发出第二控制指令至所述工控机6,进而使工控机6控制行走越障底盘1运动至目标地点。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.

本发明可以实现对炸药、雷管等塞孔物的抓取和填充,通过视觉传感器控制装置的图像处理功能,能够实现对需堵塞孔的孔口尺寸位置的识别和定位;通过激光传感器控制装置的环境信息处理功能,能够实现爆破机器人的导航和定位。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.

进一步的实施例中,所述行走越障底盘1为履带式坦克底盘,包括两个主履带,能够承受机械系统和采集系统的重量,并承载爆破机器人本体越障行走。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.

进一步的实施例中,请继续参阅图1,所述机械臂3为六自由度机械臂,由六个关节组成,且每个关节均通过所述工控机6的控制可以实现精确的位置和角度控制,所述机械臂3通过CAN总线连接所述工控机6。所述六自由度机械臂的具体结构为现有技术,在此不再赘述。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.

请继续参阅图1,所述机械爪4包括机械爪本体以及若干个驱动电机,所述机械爪本体具有至少两个卡爪,各个所述驱动电机分别连接一卡爪,并用于驱动各个卡爪相互靠近或远离,以使所述机械爪本体能够自由开合,进而夹持或松开塞孔物,各个所述驱动电机与所述工控机6电连接,由所述工控机6控制动作,具体通过CAN总线连接。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.

请继续参阅图1,所述电动推杆5包括直流电机、缸套、推杆和活塞,所述直流电机的输出轴与所述活塞的一端连接,所述缸套套设在所述活塞上,所述活塞的另一端连接所述推杆,所述推杆用于将机械爪4上夹持的塞孔物推入需堵塞孔中,所述直流电机与所述工控机6电连接,具体通过CAN总线连接。电动推杆4安装在机械臂3前臂的正下方,采用直流电机驱动,最小推杆行程为500mm,最小推力为1000N。当工控机6发出信号,控制推杆推出时,推杆的运动轨迹位于机械爪4的中心,从而使得推杆能够精确的将机械爪4所抓取的炸药、雷管和塞孔物推入孔内。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.

所述云台升降机构72包括稳定云台721以及升降装置722,所述稳定云台721固定设置在所述升降装置722上,所述升降装置722固定设置在所述采集装置底座71上,所述升降装置722用于实现稳定云台721的上升和下降,所述稳定云台721用于实现三轴旋转自适应调节。所述视觉传感器73、激光传感器74、视觉传感器控制装置75和激光传感器控制装置76均安装在稳定云台721上,视觉传感器73和视觉传感器控制装置75安装在稳定云台721的一侧,激光传感器74和视觉传感器控制装置76安装在稳定云台721的另一侧,易于保持云台升降机构72的相对平衡。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 .

请一并参阅图2,所述视觉传感器控制装置75包括依次连接的捕捉模块751、信息处理模块752以及第一控制模块753,其中,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,

所述捕捉模块751用于捕捉所述视觉传感器73采集的图像信息;The capture module 751 is used to capture the image information collected by the visual sensor 73;

所述信息处理模块752用于根据所述图像信息生成需堵塞孔的位置和尺寸信息;The information processing module 752 is used to generate position and size information of holes to be blocked according to the image information;

所述第一控制模块753用于根据所述需堵塞孔的位置和尺寸信息生成第一控制指令,并发送给所述工控机6。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 .

具体的,所述捕捉模块751具体用于捕捉所述视觉传感器采集的或者预先输入的需堵塞孔的图像信息。换而言之,所述捕捉模块751可以直接获取视觉传感器73采集的需堵塞孔的图像信息,亦可以获取由操作人员预先输入需堵塞孔的图像信息。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.

进一步来说,在一个实施例中,所述第一控制模块753具体用于确定需堵塞孔的位置和尺寸信息对应的工控机目标状态,根据确定的工控机目标状态生成所述第一控制命令。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 .

在另一个实施例中,所述第一控制模块753具体将需堵塞孔的位置和尺寸信息与预设的基准信息进行比较,根据比较结果和工控机基准状态,确定工控机目标状态后,根据确定的工控机目标状态,生成所述第一控制命令。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.

进一步来说,所述第一控制指令为针对爆破机器人自身的控制命令,至少包括机械臂动作路径控制指令以及云台升降机构控制指令。所述工控机6可根据第一控制指令来实现对机械臂3或者云台升降机构72的控制。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.

进一步的实施例中,所述捕捉模块751还用于在根据需堵塞孔的图像信息生成对应的第一控制命令之前,捕捉待填充墙面、柱面等地图信息中的至少一种。故为了保证生成的第一控制指令可以精准的控制机械臂对准需堵塞孔,所述第一控制模块753还用于根据待填充墙面、柱面等地图信息中的至少一种,以及需堵塞孔的图像信息,生成对应的第一控制命令。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.

请一并参阅图3,所述激光传感器控制装置76包括采集模块761、信息转换模块762、生成模块763、判断模块764以及第二控制模块765,其中,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,

所述采集模块761用于获取激光传感器74采集的环境信息,所述环境信息包括地面环境信息、地图信息和障碍物信息中的至少一种;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;

所述信息转换模块762用于根据所述环境信息进行处理,具体对所述环境信息进行识别和计算处理;The information conversion module 762 is configured to perform processing according to the environmental information, specifically to identify and calculate the environmental information;

所述生成模块763用于根据处理后的环境信息生成爆破地面环境的二维地图,具体根据所述环境信息和编码器8的信息融合后生成所述二维地图;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;

所述判断模块764用于根据生成的爆破地面环境的二维地图对爆破机器人的当前位置进行定位,并判断当前位置与预定位置的偏差;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;

所述第二控制模块765用于根据当前位置与预定位置的偏差生成第二控制指令,并将所述第二控制指令发送至所述工控机6,以使所述工控机6控制所述行走越障底盘1进行相应的运动。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.

具体的,采集模块761的信号输入端与激光传感器74的输出单元相连接,信息转换模块762的信号输入端与采集模块761的信号输出端相连接,生成模块763的信号输入端与信息转换模块762的信号输出端相连接,编码器8的信号输出端与生成模块763的另一信号输入端相连接,判断模块764的信号输入端与生成模块763的信号输出端相连接,控制指令模块765的信号输入端与判断模块764的信号输出端相连接。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 .

进一步的,所述第二控制指令至少包括爆破机器人行进速度控制指令和爆破机器人行进方向控制指令。可精准的控制爆破机器人的行走速度和方向。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.

为了更好的理解本发明,以下结合图4举例说明爆破机器人完成一个孔的填装任务的工作方法,包括如下步骤: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:

步骤一、爆破机器人通过激光传感器74导航行走到需要填充炸药和雷管等壁面、柱子等前方的位置,并通过视觉传感器73获得需要填充的孔口位置;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;

步骤二、爆破机器人控制所述机械爪4抓取并夹持住炸药,爆破机器人控制所述机械臂3运动到孔口位置;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;

步骤三、爆破机器人向电动推杆5发送推杆指令,电动推杆5接收到推杆指令并完成推杆动作后缩回;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;

步骤四、爆破机器人控制机械爪4抓取并夹持住雷管,爆破机器人控制机械臂3运动到孔口位置后,重复步骤三;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;

步骤五、爆破机器人控制机械爪3抓取并夹持住塞孔物,爆破机器人控制机械臂3运动到孔口位置后,重复步骤三;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;

步骤六、机械臂3接收到电动推杆5到位信号后,收起机械臂3,完成一个孔的填装任务。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.

综上所述,本发明提供的爆破机器人,通过设置机械臂、机械爪和电动推杆,可以实现对炸药、雷管等塞孔物的抓取和填充,通过设置行走越障底盘,使爆破机器人具有一定的攀越障碍物的能力,通过视觉传感器控制装置的图像处理功能,能够实现对需堵塞孔的孔口尺寸位置的识别和定位;通过激光传感器控制装置的环境信息处理功能,能够实现爆破机器人的导航和定位。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.

以上所述,仅为本发明较佳的具体实施方式,但本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到的变化或替换,都应涵盖在本发明的保护范围之内。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.
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