CN114290348A - End effector for tunnel detection robot, detection robot and control method thereof - Google Patents
End effector for tunnel detection robot, detection robot and control method thereof Download PDFInfo
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- CN114290348A CN114290348A CN202210038535.2A CN202210038535A CN114290348A CN 114290348 A CN114290348 A CN 114290348A CN 202210038535 A CN202210038535 A CN 202210038535A CN 114290348 A CN114290348 A CN 114290348A
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Abstract
The invention provides an end effector for a tunnel detection robot, the detection robot and a control method thereof, and the end effector comprises a robot moving platform, a lifter arranged on the robot moving platform and a mechanical arm arranged on the lifter; an extension bar is arranged at one end of the mechanical arm, which is far away from the lifter, and an end effector is arranged at one end of the extension bar, which is far away from the mechanical arm; the end effector comprises an end effector frame, and an ultrasonic radar disposed on the end effector frame; a plurality of contact switches are arranged on the working surface of the end effector frame; according to the invention, the plurality of contact switches are arranged on the working surface of the end effector frame, and the end effector, the ultrasonic radar and the tunnel inner wall are attached through the cooperation of the plurality of contact switches, so that the attaching efficiency and accuracy are improved, the stability of the ultrasonic radar for detecting the tunnel inner wall is improved, and conditions are created for improving the detection accuracy.
Description
Technical Field
The invention belongs to the technical field of tunnel detection robots, and particularly relates to an end effector for a tunnel detection robot, the tunnel detection robot and a control method of the tunnel detection robot.
Background
The construction period of the existing tunnel is long, the use and design period is long, the tunnel with long service life is influenced to a certain extent by geological and natural environment reasons, and the normal use of the tunnel can be ensured only by regular detection; the process of tunnel detection all is artifical the detection now, needs to have the operation of qualification and experienced technical staff to accomplish, and the tunnel distance is very long, and the work of tunnel detection is very heavy, and operational environment is abominable, and light is darker in the tunnel, has dust and toxic substance. The tunnel construction is increased day by day, so that the work is heavier, the automatic process of tunnel detection is promoted, and the tunnel detection robot is produced accordingly.
The inventor finds that the related tunnel detection equipment is installed on a manually-driven vehicle or a climbing vehicle, is not an automatic navigation and automatic driving robot, and does not realize the full automation of tunnel detection; in addition, when the contact between the end effector and the inner wall of the tunnel is detected in the conventional tunnel detection robot, good self-adaptive adjustment and better attachment cannot be realized, and the detection stability and precision are influenced.
Disclosure of Invention
The invention aims to solve the problems and provides an end effector for a tunnel detection robot, the detection robot and a control method thereof.
In order to achieve the above object, a first aspect of the present invention provides an end effector for a tunnel inspection robot, which adopts the following technical solutions:
an end effector for a tunnel inspection robot comprises an end effector frame and an ultrasonic radar arranged on the end effector frame;
a plurality of contact switches are arranged on the working surface of the end effector frame.
Furthermore, the end effector frame is a rectangular frame, and four corners of the rectangular frame are provided with contact switches.
In order to achieve the above object, according to a second aspect of the present invention, there is provided a method for controlling an end effector for a tunnel inspection robot, including:
an end effector control method for a tunnel inspection robot using the end effector for a tunnel inspection robot according to the first aspect includes:
when only one contact switch contacts a detection object, a coordinate system is established by using a contact point, and the end effector frame rotates around any side where the contact point is connected;
when two adjacent contact switches contact a detection object, a coordinate system is established by the midpoint of the connecting line of the two contact points, and the end effector frame rotates around the connecting line of the two contact points until the three contact switches contact the detection object;
when two diagonal touch switches contact the detection object, a coordinate system is established with the center of the end effector frame, which is rotated around the diagonals of the two touch switches until three touch switches contact the detection object.
In order to achieve the above object, in a third aspect, the present invention provides a detection robot, which adopts the following technical solutions:
a detection robot comprises a robot moving platform, a lifter arranged on the robot moving platform and a mechanical arm arranged on the lifter;
an extension bar is arranged at one end of the mechanical arm, which is far away from the lifter, and an end effector is arranged at one end of the extension bar, which is far away from the mechanical arm;
the end effector comprises an end effector frame, and an ultrasonic radar disposed on the end effector frame; a plurality of contact switches are arranged on the working surface of the end effector frame.
Furthermore, the end effector frame is a rectangular frame, and four corners of the rectangular frame are provided with contact switches.
Further, the mechanical arm is a six-axis mechanical arm.
Furthermore, a laser radar and a gyroscope are arranged on the robot moving platform.
Further, laser radar sets up one side of robot moving platform, the gyroscope sets up the central point of gyroscope puts.
Further, the laser radar is set as a 3D laser radar.
In order to achieve the above object, in a fourth aspect, the present invention provides a detection robot control method, which adopts the following technical solutions:
a detection robot control method using the detection robot according to the third aspect, comprising:
the method comprises the steps that a laser radar scans three-dimensional data of a tunnel in real time, and a gyroscope acquires forward acceleration, Z-axis angular velocity and Z-axis deflection angle of a vehicle body of the robot in real time; reconstructing a three-dimensional model of the inner wall of the tunnel through data fusion of a laser radar, a gyroscope and a speedometer, and marking the size and the position of an obstacle in the inner wall of the tunnel;
adjusting the height of the lifter, and extending the working radius of the mechanical arm;
the extension bar is used for increasing the arm extension length of the tail end of the mechanical arm, and the pose of the mechanical arm is adjusted according to the position data returned by the end effector and the distance data between the end effector and the inner wall of the tunnel, so that the end effector is tightly attached to the inner wall of the tunnel;
when only one contact switch contacts a detection object, a coordinate system is established by using a contact point, and the end effector frame rotates around any side where the contact point is connected; when two adjacent contact switches contact a detection object, a coordinate system is established by the midpoint of the connecting line of the two contact points, and the end effector frame rotates around the connecting line of the two contact points until the three contact switches contact the detection object; when two diagonal touch switches contact the detection object, a coordinate system is established with the center of the end effector frame, which is rotated around the diagonals of the two touch switches until three touch switches contact the detection object.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the working surface of the end effector frame is provided with the plurality of contact switches, and the end effector, the ultrasonic radar and the tunnel inner wall are jointed by matching the plurality of contact switches, so that the adaptability of the end effector in azimuth adjustment is improved, the jointing efficiency and precision are improved, the stability of the ultrasonic radar for detecting the tunnel inner wall is improved, and conditions are created for improving the detection accuracy;
2. the control system and the end effector coordinate system transformation method established by the invention ensure the aim of quickly realizing the joint of the end effector, the ultrasonic radar and the inner wall of the tunnel, improve the stability of the ultrasonic radar for detecting the inner wall of the tunnel and create conditions for improving the accuracy of detection;
3. according to the invention, the end effector is arranged on the robot moving platform, and the automatic detection of the tunnel wall is realized by means of the cooperation of the lifter, the mechanical arm, the extension bar and the like; meanwhile, the mechanical arm is a six-axis mechanical arm, so that the adjustment flexibility of the end effector in the matching detection with the tunnel wall is improved, the adaptability of the end effector in the direction adjustment is improved, and the robot can reach the range of the operation radius of 9m through a mechanical system of a lifter, the mechanical arm and an extension rod and can cover different tunnels;
4. the robot vehicle-mounted 3D laser radar and the gyroscope can realize real-time three-dimensional reconstruction of the inner wall of the tunnel, mark the size and the position of an object on the tunnel wall in real time, help the robot avoid the collision of obstacles, and improve the safety and the stability of the tunnel detection robot.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the present embodiments, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the present embodiments and together with the description serve to explain the present embodiments without unduly limiting the present embodiments.
FIG. 1 is a schematic structural view of example 1 of the present invention;
FIG. 2 is a schematic structural diagram of embodiment 3 of the present invention;
FIG. 3 is a control flowchart of embodiment 3 of the present invention;
the robot comprises a robot moving platform 1, a robot moving platform 2, a lifter 3, a mechanical arm 4, an extension bar 5, an end effector 51, an end effector frame 52, an ultrasonic radar 53, a first contact switch 54, a second contact switch 55, a third contact switch 56, a fourth contact switch 6 and a laser radar.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
The noun explains: the working surface of the end effector frame refers to one end used for contacting with a detection object in the detection process, and the detection object is a tunnel wall in the invention.
Example 1:
as shown in fig. 1, the present embodiment provides an end effector for a tunnel inspection robot, including an end effector frame 51, and an ultrasonic radar 52 provided on the end effector frame 51;
a plurality of contact switches are provided on the working surface of the end effector frame 51.
In this embodiment, the end effector frame 51 is a rectangular frame, and four corners of the rectangular frame are provided with contact switches; a first contact switch 53, a second contact switch 54, a third contact switch 54, and a fourth contact switch 55;
specifically, be provided with a plurality of contact switches on end effector frame 51's the working face, through a plurality of contact switches's cooperation, realized end effector and ultrasonic radar 52 and detection object's laminating, in this implementation, detection object is the tunnel inner wall, has improved the adaptability of end effector on the position is adjusted, has improved the efficiency and the precision of laminating, for the improvement stability of ultrasonic radar detection tunnel inner wall, has created the condition for improving the accuracy that detects.
Example 2:
the present embodiment provides a method for controlling an end effector for a tunnel inspection robot, which employs the end effector for a tunnel inspection robot as described in embodiment 1, and includes:
when only one contact switch contacts the detection object, a coordinate system is established by using the contact point, and the end effector frame 51 rotates around any side connected with the contact point where the end effector frame is located;
when two adjacent contact switches contact the detection object, a coordinate system is established by the midpoint of the connecting line of the two contact points, and the end effector frame 51 rotates around the connecting line of the two contact points until three contact switches contact the detection object;
when two diagonal touch switches contact the detection object, a coordinate system is established with the center of the end effector frame, and the end effector frame 51 is rotated around the diagonals of the two touch switches until three touch switches contact the detection object;
the end effector coordinate system transformation method established in the embodiment ensures that the purpose of quickly realizing the attachment of the end effector, the ultrasonic radar and the tunnel inner wall is realized, improves the stability of the ultrasonic radar for detecting the tunnel inner wall, and creates conditions for improving the detection accuracy.
Example 3:
the embodiment provides a detection robot, which comprises a robot moving platform 1, a lifter 2, a mechanical arm 3, an extension bar 4, an end effector 5, a laser radar 6 and a gyroscope; the mechanical arm 3 can be set as a six-axis mechanical arm, and the laser radar 6 can be set as a 3D laser radar.
The robot moving platform 1 is provided with a 3D laser radar and a gyroscope, the lifter 2 is arranged above the platform, the six-axis mechanical arm is arranged above the lifter 2, the extension bar 4 is arranged at the tail end of the six-axis mechanical arm, and the end effector 5 is arranged at the tail end of the extension bar 4; the robot carrying server is used as a control center of the robot, the control center receives the input of tunnel detection of an operator, the communication with each part of control systems is realized according to the input data of each part of systems and control logic, and each part of control systems is controlled to realize automatic walking and detection according to the scene requirement of tunnel detection.
In this embodiment, the laser radar 6 scans three-dimensional data of a tunnel in real time, the vehicle-mounted gyroscope is installed at the most central position of the robot moving platform 1, the gyroscope acquires forward acceleration, Z-axis angular velocity and Z-axis deflection angle of a vehicle body of the robot in real time, and the Z-axis is an axis which is located at the central position of the robot moving platform 1 and is perpendicular to a horizontal plane. And through data fusion of the laser radar 6, the gyroscope and the odometer, the reconstruction of a three-dimensional model of the inner wall of the tunnel is realized, and the size and the position of the obstacle in the inner wall of the tunnel are marked.
In the embodiment, the height of the lifter 2 is adjusted according to the detected position and height data of the tunnel, so as to achieve the purpose of extending the working radius of the industrial mechanical arm; in the present embodiment, the maximum elevation height of the elevator 2 may be set to 2 m.
In this embodiment, the extension bar 4 is installed at the tail end of the six-axis mechanical arm, the arm extension length of the tail end of the mechanical arm 3 is increased, and the mechanical arm control system adjusts the pose of the mechanical arm rapidly in real time according to the position data returned by the end effector 5 and the distance data between the mechanical arm and the inner wall of the tunnel, so as to achieve the purpose that the end effector is tightly attached to the inner wall of the tunnel.
In this embodiment, the end effector 5 is provided with four contact switches and an ultrasonic radar 52, the ultrasonic radar 52 is used for detecting defects of the inner wall of the tunnel, the contact switches are arranged on four corner points of the frame of the working plane on the end effector 5, and the contact switches are used for ensuring that the end effector 5 can always contact the inner wall of the tunnel.
In the present embodiment, the control algorithm for the contact between the contact switch of the end effector 5 and the inner wall of the tunnel is a coordinate system transformation method; the method specifically comprises the following steps: the mechanical arm 3 with the end effector 5 extends towards the inner wall of the tunnel, when a contact switch is contacted, a new coordinate system is established by the contact point of the contact switch, and the tail end of the mechanical arm 3 rotates around one of the edges connected on the corner where the contact point is located; when two contact switches are in contact, two conditions are divided, wherein in the first condition, when two adjacent contact switches are in contact, two points establish a coordinate system by using the middle point of the connecting line of the two points, and the tail end of the mechanical arm 3 rotates around the straight line to finally achieve the aim that the three contact switches are in contact with the inner wall of the tunnel; the second case is when two diagonals touch, a new coordinate system is established with the center of the frame, which will rotate around the diagonal connecting them, eventually reaching the goal of three touch switches touching the tunnel inner wall.
In the embodiment, the control system is installed on the vehicle-mounted server of the robot, and the input data of the control system comprises the input data of each part system; the first item is position, speed and gyroscope data of the robot mobile platform 1, point cloud data of a 3D laser radar and state data of the platform; the second item is height data and status data of the lift 2; the third item is end position data and state data of the robot arm 3; the fourth item is contact switch data and status data of the end effector 5; the fifth item is the defect data and status data of the ultrasound system; the output data of the control system comprises communication with the controller of the robot moving platform 1, communication with the controller of the lifter 2, communication with the controller of the mechanical arm 3, communication with the controller of the end effector 5 and communication with an ultrasonic radar system; the control system is provided with a display interface, a three-dimensional model of the tunnel is displayed on the display interface of the control system, and the robot moving platform 1 comprises data such as the position in the tunnel, the barrier at the tail end of the robot in the tunnel, the position and the size of the defect in the tunnel and the like.
The operation mode in the embodiment is that an operator remotely sends a tunnel detection instruction to the robot through handheld equipment, the tunnel detection instruction comprises a tunnel detection position, the moving speed and a starting instruction of the robot, a robot control system is detected according to data input by the operator and returned by each part of system, the lifting height of a control elevator and the pose of a mechanical arm are automatically planned and controlled, an end effector is quickly attached to the inner wall of a tunnel according to a coordinate system transformation method, the preparation work before the robot walks is completed, the control system controls the robot to automatically walk at the moving speed input by the operator according to the obtained completion state of a contact switch of the end effector, and the reconstruction of a tunnel model and the segmentation of objects in the tunnel are performed through the data returned by a 3D laser radar in real time; the mechanical arm automatically stretches and retracts to avoid the obstacle according to the size of the obstacle in the process of detecting the tunnel divided by the laser radar, and the mechanical arm is quickly attached according to a coordinate system transformation method to realize continuous automatic detection.
Example 4:
the present embodiment provides a method for controlling a detection robot, which employs the detection robot as described in embodiment 3, and includes:
the laser radar 6 scans the three-dimensional data of the tunnel in real time, and the gyroscope acquires the forward acceleration, the Z-axis angular velocity and the Z-axis deflection angle of the vehicle body of the robot in real time; reconstructing a three-dimensional model of the inner wall of the tunnel through data fusion of a laser radar 6, a gyroscope and a speedometer, and marking the size and the position of an obstacle in the inner wall of the tunnel;
adjusting the height of the lifter 2 and extending the working radius of the mechanical arm 3;
the extension bar 4 is used for increasing the arm extension length of the tail end of the mechanical arm 3, and the pose of the mechanical arm 3 is adjusted according to the position data returned by the end effector 5 and the distance data between the end effector 5 and the inner wall of the tunnel, so that the end effector 5 is tightly attached to the inner wall of the tunnel;
when only one contact switch contacts the detection object, a coordinate system is established by using the contact point, and the end effector frame 51 rotates around any side connected with the contact point where the end effector frame is located; when two adjacent contact switches contact the detection object, a coordinate system is established by the midpoint of the connecting line of the two contact points, and the end effector frame 51 rotates around the connecting line of the two contact points until three contact switches contact the detection object; when two diagonal touch switches contact the detection object, a coordinate system is established with the center of the end effector frame 51, and the end effector frame 51 is rotated around the diagonals of the two touch switches until three touch switches contact the detection object.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications and variations. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (10)
1. An end effector for a tunnel inspection robot is characterized by comprising an end effector frame and an ultrasonic radar arranged on the end effector frame;
a plurality of contact switches are arranged on the working surface of the end effector frame.
2. The end effector for the tunnel inspection robot according to claim 1, wherein the end effector frame is a rectangular frame, and contact switches are disposed at four corners of the rectangular frame.
3. An end effector control method for a tunnel inspection robot, characterized by using the end effector for a tunnel inspection robot according to any one of claims 1 to 2, comprising:
when only one contact switch contacts a detection object, a coordinate system is established by using a contact point, and the end effector frame rotates around any side where the contact point is connected;
when two adjacent contact switches contact a detection object, a coordinate system is established by the midpoint of the connecting line of the two contact points, and the end effector frame rotates around the connecting line of the two contact points until the three contact switches contact the detection object;
when two diagonal touch switches contact the detection object, a coordinate system is established with the center of the end effector frame, which is rotated around the diagonals of the two touch switches until three touch switches contact the detection object.
4. The detection robot is characterized by comprising a robot moving platform, a lifter arranged on the robot moving platform and a mechanical arm arranged on the lifter;
an extension bar is arranged at one end of the mechanical arm, which is far away from the lifter, and an end effector is arranged at one end of the extension bar, which is far away from the mechanical arm;
the end effector comprises an end effector frame, and an ultrasonic radar disposed on the end effector frame; a plurality of contact switches are arranged on the working surface of the end effector frame.
5. The end effector for the inspection robot according to claim 4, wherein the end effector frame is a rectangular frame, and contact switches are provided at four corners of the rectangular frame.
6. An inspection robot as claimed in claim 4, wherein said robot arm is a six-axis robot arm.
7. An inspection robot as claimed in claim 4, wherein said robot moving platform is provided with a laser radar and a gyroscope.
8. An inspection robot as claimed in claim 7, wherein said lidar is disposed to one side of said robot moving platform and said gyroscope is disposed at a central location of said gyroscope.
9. An inspection robot as claimed in claim 8, wherein said lidar is configured as a 3D lidar.
10. A detection robot control method, characterized in that the detection robot according to any one of claims 4 to 9 is used, comprising:
the method comprises the following steps that a laser radar scans three-dimensional data of a tunnel in real time, and a gyroscope acquires forward acceleration, angular velocity and deflection angle of a vehicle body of the robot in real time; reconstructing a three-dimensional model of the inner wall of the tunnel through data fusion of a laser radar, a gyroscope and a speedometer, and marking the size and the position of an obstacle in the inner wall of the tunnel;
adjusting the height of the lifter, and extending the working radius of the mechanical arm;
the extension bar is used for increasing the arm extension length of the tail end of the mechanical arm, and the pose of the mechanical arm is adjusted according to the position data returned by the end effector and the distance data between the end effector and the inner wall of the tunnel, so that the end effector is tightly attached to the inner wall of the tunnel;
when only one contact switch contacts a detection object, a coordinate system is established by using a contact point, and the end effector frame rotates around any side where the contact point is connected; when two adjacent contact switches contact a detection object, a coordinate system is established by the midpoint of the connecting line of the two contact points, and the end effector frame rotates around the connecting line of the two contact points until the three contact switches contact the detection object; when two diagonal touch switches contact the detection object, a coordinate system is established with the center of the end effector frame, which is rotated around the diagonals of the two touch switches until three touch switches contact the detection object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210038535.2A CN114290348A (en) | 2022-01-13 | 2022-01-13 | End effector for tunnel detection robot, detection robot and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210038535.2A CN114290348A (en) | 2022-01-13 | 2022-01-13 | End effector for tunnel detection robot, detection robot and control method thereof |
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| CN206825429U (en) * | 2017-05-19 | 2018-01-02 | 华中科技大学 | A kind of car body barrier-surpassing robot control system |
| WO2021068848A1 (en) * | 2019-10-09 | 2021-04-15 | 山东大学 | Tunnel structure disease multi-scale measurement and intelligent diagnosis system and method |
| CN112282787A (en) * | 2020-09-11 | 2021-01-29 | 山东大学 | Multi-arm robot for automatic maintenance of tunnel and control method thereof |
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