CN112157662B - Blasting robot - Google Patents
Blasting robot Download PDFInfo
- 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
- Authority
- CN
- China
- Prior art keywords
- module
- mechanical arm
- push rod
- blasting
- hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
-
- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (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
Technical Field
The invention relates to the technical field of blasting robots, in particular to a blasting robot.
Background
In the engineering of railways, mines, reservoirs, tunnels, old buildings and the like, the blasting technique plays a very key role. In recent years, with the development of science and technology, the filling of explosives, detonators and plugholes in old buildings, tunnels and projects is automatically completed by using a blasting robot, mainly by adopting a manual filling mode, the walls and the upright posts of the old buildings, tunnels, mines and the like are perforated in advance, and then the explosives, the detonators and the plugholes are sequentially filled into the holes by relying on the experience of workers.
However, as the amount of blasting work increases, the number of holes that need to be filled increases greatly, resulting in increased labor intensity and personal safety risks for the workers. The explosion field has a severe environment, crushed stone is accumulated and the road is muddy, so that the explosion robot is required to have certain obstacle climbing capacity. The current robot has weak practicability and cannot meet the requirements of blasting engineering.
Meanwhile, because the holes on the walls of old buildings, tunnels, mines and the like are numerous, the automatic identification of each hole can not be realized only by the mechanical arm of the blasting robot. The blasting robot according to the patent application No. CN201621035834.7 is equipped with a mechanical arm, but cannot accurately position and automatically identify a hole to be plugged.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a blasting robot for solving the problems that the current blasting robot cannot surmount the obstacle and cannot locate and identify the hole to be blocked.
The invention provides 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 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 both fixed at the tail end of the mechanical arm, the electric push rod is used for pushing a hole plugging object 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 is used for sending a first control instruction to the industrial personal computer according to the image information of the hole to be blocked, so that the industrial personal computer controls the mechanical arm to act and aim at the hole to be blocked; 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. .
Preferably, in the blasting robot, the mechanical arm is a six-degree-of-freedom mechanical arm.
Preferably, in the blasting robot, the cradle head lifting mechanism comprises a stable cradle head and a lifting device, the stable cradle head is fixedly arranged on the lifting device, and the lifting device is fixedly arranged on the base of the collecting device.
Preferably, in the blasting robot, the vision sensor control device comprises a capturing module, an information processing module and a first control module which are connected in sequence,
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 sending the first control instruction to the industrial personal computer.
Preferably, in the blasting robot, the capturing module is specifically configured to capture image information of a hole to be plugged acquired by the vision sensor or input in advance.
Preferably, in the blasting robot, the first control module is specifically configured to determine a target state of the industrial personal computer corresponding to the position and the size information of the hole to be plugged, and generate the first control command according to the determined target state of the industrial personal computer; or alternatively
Comparing the position and size information of the hole to be plugged with preset reference information, determining the target state of the industrial personal computer according to the comparison result and the reference state of the industrial personal computer, and generating the first control command according to the determined target state of the industrial personal computer.
Preferably, in the blasting robot, the first control command at least includes a mechanical arm motion path control command and a pan-tilt lifting mechanism control command.
Preferably, in the blasting robot, the capturing module is further configured to capture map information of the surface to be filled before the first control command is generated.
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 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.
Preferably, in the blasting robot, the second control command at least includes a blasting robot travel speed control command and a blasting robot travel direction control command.
[ beneficial effects ]
According to the blasting robot, the mechanical arm, the mechanical claw and the electric push rod are arranged, so that the gripping and filling of the explosive, the detonator and other hole plugging objects can be realized, the walking obstacle-surmounting chassis is arranged, the blasting robot has a certain obstacle-surmounting capacity, and the recognition and positioning of the size and the position of the hole opening of the hole to be plugged can be realized through the image processing function of the visual sensor control device; the navigation and positioning of the blasting robot can be realized through the environment information processing function of the laser sensor control device.
Drawings
FIG. 1 is a schematic view of a blasting robot according to a preferred embodiment of the present invention;
FIG. 2 is a block diagram of a preferred embodiment of the vision sensor control device in the blasting robot according to the present invention;
FIG. 3 is a block diagram of a control device for a laser sensor in a blasting robot according to the present invention;
fig. 4 is a flowchart of an embodiment of the blasting robot according to the present invention for filling a hole.
Detailed Description
Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and together with the description serve to explain the principles of the invention, and are not intended to limit the scope of the invention.
Referring to fig. 1, the blasting robot provided by the embodiment of the invention comprises 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 personal computer 6 and a collecting device 7, wherein,
the mechanical arm base 2 and the industrial personal computer 6 are fixedly arranged on the walking obstacle crossing chassis 1, the mechanical arm 3 is fixed on the mechanical arm base 2, the mechanical claw 4 and the electric push rod 5 are both fixed at the tail end of the mechanical arm 3, the electric push rod 5 is used for pushing a hole plugging object (such as an explosive, a detonator and the like) clamped on the mechanical claw 4 into a hole to be plugged, and the industrial personal computer 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 acquisition device 7 comprises an acquisition device base 71, a cradle head lifting mechanism 72, a visual sensor 73, a laser sensor 74, a visual sensor control device 75 and a laser sensor control device 76, wherein the acquisition device base 71 is fixedly arranged on the walking obstacle crossing chassis 1, the cradle head lifting mechanism 72 is fixed on the acquisition device base 71, the visual sensor 73, the laser sensor 74, the visual sensor control device 75 and the laser sensor control device 76 are fixedly arranged on the cradle head lifting mechanism 72, the visual sensor 73 is electrically connected with the visual sensor control device 75, and the cradle head lifting mechanism 72, the visual sensor control device 75 and the laser sensor control device 76 are electrically connected with the industrial personal computer 6;
the vision sensor control device 75 is configured to send a first control instruction to the industrial personal computer 6 according to the image information of the hole to be plugged, so that the industrial personal computer 6 controls the mechanical arm 3 to act and align with the hole to be plugged; the laser sensor control device 76 is configured to send a second control instruction to the industrial personal computer 6 according to the environmental information collected by the laser sensor 74, so that the industrial personal computer 6 controls the walking obstacle surmounting chassis 1 to walk to a predetermined position.
Specifically, the explosion robot can bear the weight of the whole explosion robot and carry the obstacle crossing walking of the explosion robot due to the walking obstacle crossing chassis 1, the mechanical arm 3 can drive the mechanical claw 4 for clamping the hole plugging object to move, so that the mechanical claw 4 clamps the hole plugging object to the position where the hole plugging object is required to be plugged, and then the hole plugging object clamped by the mechanical claw 4 is pushed into the hole where the hole plugging object is required to be plugged through the electric push rod 5; the pan-tilt elevating mechanism 72 can change the positions of the vision sensor 73 and the laser sensor 74, thereby acquiring image information and environmental information of each azimuth; the vision sensor 73 is configured to collect image information of a hole to be plugged, so that the vision sensor control device 75 can identify the size and the position of the hole to be plugged according to the collected image information, and further send a first control instruction to the industrial personal computer 6, so that the industrial personal computer 6 can control the mechanical arm 3 to align with the hole to be plugged, and then the electric push rod 5 pushes the hole plugging object clamped on the mechanical claw 4 into the hole to be plugged, thereby identifying and positioning the size and the position of the hole to be plugged; the laser sensor 74 is configured to collect environmental information, so that the laser sensor control device 76 can send a second control instruction to the industrial personal computer 6, and further, the industrial personal computer 6 controls the walking obstacle surmounting chassis 1 to move to the target location.
The invention can realize the grabbing and filling of the explosive, detonator and other hole plugging objects, and can realize the identification and positioning of the size and the position of the hole opening of the hole to be plugged through the image processing function of the visual sensor control device; the navigation and positioning of the blasting robot can be realized through the environment information processing function of the laser sensor control device.
In a further embodiment, the walking obstacle crossing chassis 1 is a crawler type tank chassis, and comprises two main tracks, which can bear the weight of a mechanical system and a collection system and bear the obstacle crossing walking of the blasting robot body.
In a further embodiment, please continue to refer to fig. 1, the mechanical arm 3 is a six-degree-of-freedom mechanical arm, and is composed of six joints, and each joint CAN realize accurate position and angle control by controlling the industrial personal computer 6, and the mechanical arm 3 is connected with the industrial personal computer 6 through a CAN bus. The specific structure of the six-degree-of-freedom mechanical arm is in the prior art, and is not described herein.
With continued reference to fig. 1, the gripper 4 includes a gripper body and a plurality of driving motors, where the gripper body has at least two jaws, each of the driving motors is respectively connected to one jaw and used for driving each jaw to approach or depart from each other, so that the gripper body CAN be opened and closed freely, and further clamp or loosen the hole-plugged object, each of the driving motors is electrically connected with the industrial personal computer 6, and the industrial personal computer 6 controls the operation, specifically through a CAN bus.
With continued reference to fig. 1, the electric push rod 5 includes a dc motor, a cylinder sleeve, a push rod and a piston, wherein an output shaft of the dc motor is connected with one end of the piston, the cylinder sleeve is sleeved on the piston, the other end of the piston is connected with the push rod, the push rod is used for pushing a hole plugging object clamped on the mechanical claw 4 into a hole to be plugged, and the dc motor is electrically connected with the industrial computer 6, specifically through a CAN bus. The electric push rod 4 is arranged right below the forearm of the mechanical arm 3 and driven by a direct current motor, the minimum push rod stroke is 500mm, and the minimum thrust is 1000N. When the industrial personal computer 6 sends out a signal to control the pushing rod to push out, the movement track of the pushing rod is positioned at the center of the mechanical claw 4, so that the pushing rod can accurately push the explosive, the detonator and the plugging material grabbed by the mechanical claw 4 into the hole.
The cradle head lifting mechanism 72 comprises a stable cradle head 721 and a lifting device 722, the stable cradle head 721 is fixedly arranged on the lifting device 722, the lifting device 722 is fixedly arranged on the acquisition device base 71, the lifting device 722 is used for realizing the lifting and the descending of the stable cradle head 721, and the stable cradle head 721 is used for realizing triaxial rotation self-adaptive adjustment. The vision sensor 73, the laser sensor 74, the vision sensor control device 75 and the laser sensor control device 76 are all installed on the stable tripod head 721, the vision sensor 73 and the vision sensor control device 75 are installed on one side of the stable tripod head 721, and the laser sensor 74 and the vision sensor control device 76 are installed on the other side of the stable tripod head 721, so that the relative balance of the tripod head lifting mechanism 72 is easy to keep.
Referring to fig. 2, the vision sensor control device 75 includes a capturing module 751, an information processing module 752, and a first control module 753 connected in sequence, wherein,
the capturing module 751 is used for capturing image information acquired by the vision sensor 73;
the information processing module 752 is configured to generate position and size information of a hole to be plugged according to the image information;
the first control module 753 is configured to generate a first control instruction according to the position and the size information of the hole to be plugged, and send the first control instruction to the industrial personal computer 6.
Specifically, the capturing module 751 is specifically configured to capture image information of a hole to be plugged acquired by the vision sensor or input in advance. In other words, the capturing module 751 may directly acquire the image information of the hole to be plugged acquired by the vision sensor 73, or may acquire the image information of the hole to be plugged input in advance by the operator.
Further, in one embodiment, the first control module 753 is specifically configured to determine a target state of the industrial personal computer corresponding to the position and the size information of the hole to be plugged, and generate the first control command according to the determined target state of the industrial personal 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, determines the target state of the industrial personal computer according to the comparison result and the reference state of the industrial personal computer, and then generates the first control command according to the determined target state of the industrial personal computer.
Further, the first control command is a control command for the blasting robot, and at least includes a mechanical arm action path control command and a pan-tilt lifting mechanism control command. The industrial personal 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 capturing module 751 is further configured to capture at least one of map information of a wall surface, a cylindrical surface, etc. to be filled before generating the corresponding first control command according to the image information of the hole to be plugged. Therefore, in order to ensure that the generated first control command can accurately control the mechanical arm to align with the hole to be blocked, the first control module 753 is further configured to generate a corresponding first control command according to at least one of map information such as a wall surface to be filled, a cylindrical surface to be filled, and image information of the hole to be blocked.
Referring to fig. 3, the laser sensor control device 76 includes an acquisition module 761, an information conversion module 762, a generation module 763, a determination module 764, and a second control module 765, wherein,
the acquisition module 761 is configured to acquire environmental information acquired by the laser sensor 74, where the environmental information includes at least one of ground environmental information, map information, and obstacle information;
the information conversion module 762 is configured to perform processing according to the environmental information, specifically perform identification and calculation processing on the environmental information;
the generation module 763 is configured to generate a two-dimensional map of the blasting ground environment according to the processed environment information, specifically, generate the two-dimensional map according to the fusion of the environment information and the information of the encoder 8;
the judging module 764 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 765 is configured to generate a second control instruction according to a deviation between the current position and the predetermined position, and send the second control instruction to the industrial personal computer 6, so that the industrial personal computer 6 controls the walking obstacle surmounting chassis 1 to perform a corresponding movement.
Specifically, the signal input end of the acquisition module 761 is connected to the output unit of the laser sensor 74, the signal input end of the information conversion module 762 is connected to the signal output end of the acquisition module 761, the signal input end of the generation module 763 is connected to the signal output end of the information conversion module 762, the signal output end of the encoder 8 is connected to the other signal input end of the generation module 763, the signal input end of the determination module 764 is connected to the signal output end of the generation module 763, and the signal input end of the control instruction module 765 is connected to the signal output end of the determination module 764.
Further, the second control command at least comprises a blasting robot traveling speed control command and a blasting robot traveling direction control command. The walking speed and direction of the blasting robot can be accurately controlled.
For a better understanding of the present invention, the following working method of the blasting robot to perform a hole filling task is illustrated in connection with fig. 4, comprising the steps of:
step one, the blasting robot navigates and walks to the front positions of the wall surfaces, columns and the like needing to be filled with explosives, detonators and the like through a laser sensor 74, and obtains the positions of the holes needing to be filled through a visual sensor 73;
step two, the blasting robot controls the mechanical claw 4 to grasp and clamp the explosive, and the blasting robot controls the mechanical arm 3 to move to the position of the orifice;
step three, the blasting robot sends a push rod instruction to the electric push rod 5, and the electric push rod 5 receives the push rod instruction and retracts after finishing the push rod action;
fourthly, the blasting robot controls the mechanical claw 4 to grasp and clamp the detonator, and after the blasting robot controls the mechanical arm 3 to move to the orifice position, the third step is repeated;
step five, the blasting robot controls the mechanical claw 3 to grasp and clamp the hole plugging object, and after the blasting robot controls the mechanical arm 3 to move to the hole opening position, the step three is repeated;
and step six, after the mechanical arm 3 receives the in-place signal of the electric push rod 5, the mechanical arm 3 is retracted, and the filling task of one hole is completed.
In summary, according to the blasting robot provided by the invention, through the arrangement of the mechanical arm, the mechanical claw and the electric push rod, the gripping and filling of the hole plugging objects such as explosives, detonators and the like can be realized, through the arrangement of the walking obstacle-surmounting chassis, the blasting robot has a certain obstacle-surmounting capability, and through the image processing function of the visual sensor control device, the recognition and positioning of the hole size position of the hole to be plugged can be realized; the navigation and positioning of the blasting robot can be realized through the environment information processing function of the laser sensor control device.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010924096.6A CN112157662B (en) | 2020-09-04 | 2020-09-04 | Blasting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010924096.6A CN112157662B (en) | 2020-09-04 | 2020-09-04 | Blasting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112157662A CN112157662A (en) | 2021-01-01 |
| CN112157662B true CN112157662B (en) | 2023-07-07 |
Family
ID=73858520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010924096.6A Active CN112157662B (en) | 2020-09-04 | 2020-09-04 | Blasting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112157662B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800478A (en) * | 2021-01-28 | 2022-07-29 | 南京埃尔乔亿自控设备有限公司 | Crawler-type barrier-breaking robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003311670A (en) * | 2002-04-17 | 2003-11-05 | Denso Wave Inc | Positioning control method of robot arm and robot equipment |
| CN105415380A (en) * | 2015-12-11 | 2016-03-23 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot system for detecting equipment in box and method thereof |
| CN110147106A (en) * | 2019-05-29 | 2019-08-20 | 福建（泉州）哈工大工程技术研究院 | Has the intelligent Mobile Service robot of laser and vision fusion obstacle avoidance system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2667451Y (en) * | 2003-11-03 | 2004-12-29 | 陈海文 | Remote-control automatic charge machine |
| CN106382869B (en) * | 2015-10-26 | 2018-01-23 | 北方爆破科技有限公司 | The control method of on-site mixed explosive Work robot |
| CN208042896U (en) * | 2018-03-29 | 2018-11-02 | 贵州息烽磷矿有限责任公司 | A kind of explosion auxiliary device easy to use |
| CN109827482B (en) * | 2019-03-27 | 2021-08-13 | 辽宁科技大学 | Blast hole pose identification method and blast hole butt joint device for deep hole charging |
| CN110434874A (en) * | 2019-08-07 | 2019-11-12 | 北京凌天世纪控股股份有限公司 | A kind of explosion machine intelligent control system |
-
2020
- 2020-09-04 CN CN202010924096.6A patent/CN112157662B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003311670A (en) * | 2002-04-17 | 2003-11-05 | Denso Wave Inc | Positioning control method of robot arm and robot equipment |
| CN105415380A (en) * | 2015-12-11 | 2016-03-23 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot system for detecting equipment in box and method thereof |
| CN110147106A (en) * | 2019-05-29 | 2019-08-20 | 福建（泉州）哈工大工程技术研究院 | Has the intelligent Mobile Service robot of laser and vision fusion obstacle avoidance system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112157662A (en) | 2021-01-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1916070B1 (en) | Controllable mobile ground robot | |
| CN114072255B (en) | Mobile robot sensor configuration | |
| CN111236945B (en) | Deep sea mining vehicle with auxiliary movement device | |
| EP3835493A1 (en) | Carrier and method for operating a hydraulically operated boom carrying a tool | |
| Garcia-Cerezo et al. | Development of ALACRANE: A mobile robotic assistance for exploration and rescue missions | |
| CN112157662B (en) | Blasting robot | |
| Ben‐Tzvi | Experimental validation and field performance metrics of a hybrid mobile robot mechanism | |
| CN112901198B (en) | Intelligent cantilever type digging and anchoring machine based on image recognition and construction method | |
| Zang et al. | Two multi-linked rescue robots: design, construction and field tests | |
| CN110039563B (en) | End tool of manipulator | |
| CN113982662B (en) | Underground intelligent anchoring unit for coal mine and dynamic control method thereof | |
| JP3926138B2 (en) | Mine detection robot | |
| CN117301089A (en) | Multifunctional inspection robot device for fully-mechanized excavation face and use method | |
| Corke et al. | Vision-based control for mining automation | |
| KR102042440B1 (en) | Robot for repairing drainpipe and Control method of the robot | |
| AU2020102623A4 (en) | "Apparatus, System and Method for actuating a Tool" | |
| CN110485947B (en) | Drilling tool movement control device, drilling equipment and drilling tool movement control method | |
| CN218110798U (en) | Mining six-shaft anchor withdrawing robot | |
| Chi et al. | Development and application of underground intelligent explosive vehicles | |
| Zong et al. | A joint double-tracked robot with passive track adjusting device | |
| CN215618053U (en) | Railway inspection mechanical arm | |
| CN110640729B (en) | Intelligent double-arm hydraulic hoisting robot for mine and control method thereof | |
| CN218030170U (en) | Down-the-hole drill and down-the-hole drill remote control system | |
| Wang et al. | Application of Mobile Platform Robots for Automated Construction Processes | |
| JP2002131444A (en) | Walking type buried explosive substance detecting device and method for detecting buried explosive substance using it |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |