CN115870973A - Vision-based aircraft mechanical arm maneuvering grabbing system - Google Patents
Vision-based aircraft mechanical arm maneuvering grabbing system Download PDFInfo
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- CN115870973A CN115870973A CN202211316412.7A CN202211316412A CN115870973A CN 115870973 A CN115870973 A CN 115870973A CN 202211316412 A CN202211316412 A CN 202211316412A CN 115870973 A CN115870973 A CN 115870973A
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Abstract
The invention relates to a vision-based mechanical arm maneuvering grabbing system of an aircraft, which takes a rotor craft as a platform and realizes the operations of flying, hovering, autonomous grabbing and the like of a robot by carrying equipment such as a mechanical arm with six degrees of freedom, a camera and the like. The camera passes through serial ports and arm and unmanned aerial vehicle's main control panel communication, discerns the space coordinate of target object, and control unmanned aerial vehicle's motion realizes approaching and hover to reacing the required angle of transferring the pivoted of each steering wheel of arm through inverse kinematics analysis, transferring the arm and snatching, and through fixed stay frame on the arm, through the rising and the stable landing of stretching arm assurance system. This kind of unmanned aerial vehicle arm complex system can independently realize operations such as high altitude snatchs, has greatly expanded the application field of unmanned aerial vehicle and arm.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a novel system of a visual flying intelligent mechanical arm.
Background
Intelligent robots are a research hotspot in the field of intelligent equipment. This project uses many rotor crafts as the platform, through installing equipment such as arm, camera additional, realizes robot air flight, hover and independently snatch the operation. The research content comprises the multi-body dynamic design and control, visual perception and identification and the like of the mechanical arm. The application of the present unmanned aerial vehicle is only limited to the monitoring level, that is, the environment is only "seen" and "looked into", and no effective contact and interaction with the surrounding environment such as objects or human beings are performed. If a multi-degree-of-freedom flexible mechanical arm is installed at the bottom of the unmanned aerial vehicle body, and the autonomous navigation function of the unmanned aerial vehicle and the autonomous grabbing function of the mechanical arm are combined to form an unmanned aerial vehicle-mechanical arm structure, which is also called a flying mechanical arm, the unmanned aerial vehicle mechanical arm complex system plays a more important role, and the application field of the unmanned aerial vehicle is greatly expanded.
Disclosure of Invention
Aiming at the defects of the application field of interaction of the unmanned aerial vehicle and the environment, the unmanned aerial vehicle-mechanical arm structure is designed, the unmanned aerial vehicle-mechanical arm structure comprises a camera module, has the functions of visual identification and detection, can identify and consciously detect a target object according to colors and shapes within a certain distance range, and executes the functions of autonomous hovering of the unmanned aerial vehicle and grabbing of the mechanical arm.
The application realizes the above effects through the following technical scheme:
the vision-based mechanical arm maneuvering grabbing system comprises an unmanned aerial vehicle body and two six-degree-of-freedom mechanical arms with the same structure, wherein the two six-degree-of-freedom mechanical arms are used as grabbing mechanical arms and are fixed at the bottom of the unmanned aerial vehicle body;
the device also comprises a seven-degree-of-freedom mechanical arm, wherein a camera module is arranged on the seven-degree-of-freedom mechanical arm and is used as a detection arm; the grabbing mechanical arm is matched with the detection arm to complete grabbing operation.
Further, the unmanned aerial vehicle body comprises a body, a power system and a control system; the control system comprises a fixed frame, the fixed frame penetrates through the interior of the whole unmanned aerial vehicle body, and a gravity center adjusting device is installed in the fixed frame and used for controlling the balance of the unmanned aerial vehicle; the power system comprises coaxial rotors and a servo motor, provides power output for the unmanned aerial vehicle, and is connected with a support on the fixed frame, wherein the support is used for connecting the rotors.
Furthermore, the rotors are symmetrically distributed in the front and back of the unmanned aerial vehicle body in the left and right directions, eight large rotors are arranged up and down, the upper and lower rotors are positioned on the same height plane, the structures and the radiuses of the four rotors are the same, the four motors are symmetrically arranged at the bracket end of the aircraft, and a flight control computer and external equipment are vacant in the middle of the bracket;
the unmanned aerial vehicle body respectively has the little rotor of a pair of vertical face about for maintain the stability of aircraft organism.
Furthermore, the gravity center adjusting device comprises a balancing weight, a gear, a sliding rail, a pulley, a fixed support and a first stepping motor; the counterweight block comprises a battery and a first stepping motor, the counterweight block is arranged on a fixed support, the slide rail penetrates through the middle of the fixed support and is arranged on a fixed frame, slide grooves are distributed on two sides of the slide rail, and the slide groove on one side is provided with teeth; the pulley is arranged on the non-tooth side of the sliding chute, freely moves in the sliding chute to reduce friction, and the gear is fixed on the output shaft of the first stepping motor, is arranged on the tooth side and is matched with the teeth in the sliding chute; the output end of the first stepping motor is connected with a gear, the gear is meshed with the insections on the surface of the sliding groove, and the motor drives the gear to rotate so that the balancing weight moves back and forth on the sliding rail.
Furthermore, the grabbing mechanical arm comprises a grabbing system, a supporting system and a control system; the grabbing mechanical arm is provided with six digital steering engines with six degrees of freedom, comprises a large arm, a small arm and a rotating base and is used for realizing multi-angle long-distance grabbing.
Furthermore, the grabbing system comprises three driving steering engines and alloy claws, the tail ends of the alloy claws are gears which are meshed with each other, so that the alloy claws symmetrically extend, and the driving steering engines are connected with the alloy claws and control the extension of the alloy claws; two alloy claws are arranged in the grabbing system, and a plurality of grooves are formed in the inner sides of the alloy claws.
Furthermore, the support system is a support frame which is fixed on the inner side of the mechanical arm, the bottom of the support frame is provided with a row of telescopic support columns, the support columns are divided into multiple stages, the ejection and the contraction of each stage are realized through the stretching and the compression of an internal spring, the bottom of the spring is wrapped by an extensible support sheet, and the extension and the contraction of the support sheet can be realized through the movement of the sliding block in the sliding groove.
Furthermore, the control system comprises a main control panel, the main control panel carries various CPU chips, and the control system comprises a bus interface, a steering engine interface, a Bluetooth interface and a usb interface, and realizes communication with various external structures.
Furthermore, the detection arm comprises seven rotating joints, a camera module is fixedly carried at the front end of the detection arm, and the camera is used for adjusting the motor to drive the joints to rotate so as to realize the omnibearing detection and identification of the detection arm on the surrounding environment.
Furthermore, the inner structure of the joint of the detection arm comprises two bottom plates, a spring, two support columns, a transmission shaft and two rotating shafts; two servo motors used for driving the bottom plate to rotate are fixed on the bottom plate, the bottom plate is driven to rotate around a shaft through motor driving, rotation of a joint horizontal plane is achieved, a motor driving rotating shaft at the rotating shaft position drives the bottom plate to stretch a compression spring through a transmission shaft, and accordingly rotation of the joint up and down is achieved.
Further, the camera module passes through the screw hole to be fixed on the front end of arm to the camera mainboard realizes serial communication, regulation and control arm and unmanned aerial vehicle's motion through two IO mouths and arm and unmanned aerial vehicle.
Compared with the prior art, the invention has the following advantages:
1. the rotor craft carrying the mechanical arm combines the characteristics of maneuvering flight, fixed-point hovering of the rotor unmanned aerial vehicle, a motion control technology based on computer vision and flexible operation of the mechanical arm.
2. According to the invention, the active operation device is additionally arranged on the rotor aircraft to form a rotor flight mechanical arm, so that the active operation capability of the rotor aircraft is improved, and meanwhile, the rotor aircraft can drive the mechanical arm to perform flight motion together, so that the grabbing capability of the mechanical arm is enhanced.
3. The vision-based unmanned aerial vehicle-mechanical arm structure provided by the invention expands the application fields of unmanned aerial vehicles and mechanical arms, can autonomously identify grabbed objects, determine the positions of objects, autonomously plan paths, approach the grabbed objects, complete grabbing tasks, and help people to complete tasks with dangerousness and certain difficulty in operation.
4. The detection mechanical arm system designed by the invention can move autonomously, so that the camera is driven to realize omnibearing observation, the problem that the visual line obstacle cannot be identified is avoided, multi-angle and long-distance image identification and tracking are realized, and the identification and distance measurement precision is obviously improved.
5. The invention designs a plurality of mechanical arms to be mutually matched and work together, thereby improving the maneuvering performance of the mechanical arms and enhancing the grabbing performance of the mechanical arms, and meanwhile, the alloy support frame carried on the mechanical arms solves the landing and taking-off difficulties of the system and greatly improves the feasibility of design.
Drawings
FIG. 1 is a schematic view of the overall shape of an unmanned aerial vehicle;
FIG. 2 is a schematic view of the overall structure of the grabbing robot arm;
FIG. 3 is a schematic view of a gripper of the gripping robot;
FIG. 4 is a schematic view of the overall structure of the probing robot;
FIG. 5 is a schematic view of the internal structure of the joint of the probing robot arm;
FIG. 6 is a schematic view of the internal structure of the supporting frame;
in the figure: 1. the mechanical structure comprises a first coaxial dual rotor, a second coaxial dual rotor, a third coaxial dual rotor, a fourth coaxial dual rotor, a first coaxial dual small rotor, a second coaxial dual small rotor, a machine shell, a small rotor motor, a second coaxial dual rotor, a mechanical claw, an anti-burning steering engine, a 12 anti-blocking steering engine, a 13 metal support, a 14 digital steering engine, a 15 metal rotating base, a 16 first rotating joint, a 17 second rotating joint, a 18 third rotating joint, a 19 fourth rotating joint, a 20 fifth rotating joint, a 21 sixth rotating joint, a 22 seventh rotating joint, a 23 camera, a 24 first-stage bottom plate, a 25 supporting column, a 26 first rotating shaft, a 27 second rotating shaft, a 28 spring, a 29 servo motor, a 30 supporting sheet, a 31 second-stage bottom plate, a 32 key, a 33 upper base, a 34 telescopic spring, a 34 shell, a 36 third-stage bottom plate, a 37 grabbing arm, a mechanical claw and a mechanical claw.
Detailed Description
The technical scheme of the invention will be further explained in detail by combining the drawings in the embodiment of the invention.
Examples
The embodiment is a vision-based maneuvering grabbing system of an aircraft mechanical arm, which comprises an unmanned aerial vehicle body and two six-degree-of-freedom mechanical arms with the same structure, wherein the two six-degree-of-freedom mechanical arms are used as grabbing mechanical arms and fixed at the bottom of the unmanned aerial vehicle body;
the system also comprises a seven-degree-of-freedom mechanical arm, wherein a camera module is arranged on the seven-degree-of-freedom mechanical arm and is used as a detection arm; the grabbing mechanical arm is matched with the detecting arm to complete grabbing operation.
Further, the unmanned aerial vehicle body comprises a body, a power system and a control system; the control system comprises a fixed frame, the fixed frame penetrates through the whole body, and a gravity center adjusting device is installed in the fixed frame and used for controlling the balance of the unmanned aerial vehicle; the power system comprises coaxial rotors and a servo motor and provides power output for the unmanned aerial vehicle, a support is connected to the fixed frame and used for connecting the rotors.
Furthermore, the rotors are symmetrically distributed in the front and back of the unmanned aerial vehicle body in the left and right directions, eight large rotors are arranged up and down, the upper and lower rotors are positioned on the same height plane, the structures and the radiuses of the four rotors are the same, the four motors are symmetrically arranged at the bracket end of the aircraft, and a flight control computer and external equipment are vacant in the middle of the bracket;
the unmanned aerial vehicle body is respectively controlled to have the little rotor of a pair of vertical face for maintain the stability of aircraft organism.
Furthermore, the gravity center adjusting device comprises a balancing weight, a gear, a sliding rail, a pulley, a fixed support and a first stepping motor; the counterweight block comprises a battery and a first stepping motor, the counterweight block is arranged on a fixed support, the slide rail penetrates through the middle of the fixed support and is arranged on a fixed frame, slide grooves are distributed on two sides of the slide rail, and the slide groove on one side is provided with teeth; the pulley is arranged on the non-tooth side of the sliding chute, freely moves in the sliding chute to reduce friction, and the gear is fixed on the output shaft of the first stepping motor, is arranged on the tooth side and is matched with the teeth in the sliding chute; the output end of the first stepping motor is connected with a gear, the gear is meshed with the insections on the surface of the sliding groove, and the motor drives the gear to rotate so that the balancing weight moves back and forth on the sliding rail.
Furthermore, the grabbing mechanical arm comprises a grabbing system, a supporting system and a control system; the grabbing mechanical arm is provided with six digital steering engines with six degrees of freedom, comprises a large arm, a small arm and a rotating base and is used for realizing multi-angle long-distance grabbing.
Furthermore, the grabbing system comprises three driving steering engines and alloy claws, the tail ends of the alloy claws are gears which are meshed with each other, so that the alloy claws symmetrically extend, and the driving steering engines are connected with the alloy claws and control the extension of the alloy claws; two alloy claws are arranged in the grabbing system, and a plurality of grooves are formed in the inner sides of the alloy claws.
Furthermore, the support system is a support frame which is fixed on the inner side of the mechanical arm, the bottom of the support frame is provided with a row of telescopic support columns, the support columns are divided into multiple stages, the ejection and the contraction of each stage are realized through the stretching and the compression of an internal spring, the bottom of the spring is wrapped by an extensible support sheet, and the extension and the contraction of the support sheet can be realized through the movement of the sliding block in the sliding groove.
Furthermore, the control system comprises a main control panel, the main control panel carries various CPU chips, and the control system comprises a bus interface, a steering engine interface, a Bluetooth interface and a usb interface, and realizes communication with various external structures.
Furthermore, the detection arm comprises seven rotating joints, a camera module is fixedly carried at the front end of the detection arm, and the camera is used for adjusting the motor to drive the joints to rotate so as to realize the omnibearing detection and identification of the detection arm on the surrounding environment.
Furthermore, the inner structure of the joint of the detection arm comprises two bottom plates, a spring, two support columns, a transmission shaft and two rotating shafts; two servo motors used for driving the bottom plate to rotate are fixed on the bottom plate, the bottom plate is driven to rotate around the shaft through motor driving, rotation of a joint horizontal plane is achieved, and the motor driving rotating shaft at the rotating shaft position drives the bottom plate to stretch a compression spring through a transmission shaft, so that the joint is rotated up and down.
Further, the camera module passes through the screw hole to be fixed on the front end of arm to the camera mainboard realizes serial communication, regulation and control arm and unmanned aerial vehicle's motion through two IO mouths and arm and unmanned aerial vehicle.
As shown in the accompanying drawings, the vision-based maneuvering grabbing system for the flying robot arm provided by the application is characterized in that when grabbing operation is not started yet, a support frame on the grabbing robot arm is flatly placed on the ground, support columns of the support frame are in an extending state at the moment, a support sheet 30 is in an expanding state, extension springs 34 are limited by keys 32 to drive second-stage support columns to shrink, when grabbing operation is started, an unmanned plane motor drives a rotor to rotate, the system slowly rises at the moment, the support columns are gradually separated from the ground, the keys 32 shrink at the moment, the extension springs 34 start to drag the second-stage integral cylinder to shrink inwards, after the second-stage cylinder successfully shrinks and the springs are in a certain compression length, the keys 32 pop up at the moment, the blocking springs push the second-stage cylinder to pop up, and after all support columns inside the support frame shrink at the moment, the grabbing robot arm slowly extends and hangs down at the bottom of the unmanned plane gradually. When the unmanned plane successfully rises to a certain degreeAfter the height, the whole system is separated from the ground and kept suspended. Further, fix and rotate by motor drive axis of rotation 26 in each joint of the detection arm in unmanned aerial vehicle top to drive bottom plate 24 compression spring through transmission shaft 27 and realize articular rotation, and the motor of bottom plate 24 also can drive the bottom plate and rotate around the center pin, realize another planar rotation of joint. Further, the rotation of the first to fourth detection arm joints 19, 20, 21, 22 drives the camera 23 to start omnibearing detection on the surrounding environment, the camera recognizes the color, after the characteristic point successfully recognizes the target object, coordinates of a space point of the target object are automatically recognized, further, recognized coordinates x, y and a distance d of the target object are sent to the unmanned aerial vehicle through a serial port, the unmanned aerial vehicle recognizes and analyzes information received by the serial port, and a flight path is automatically planned through algorithm analysis, further, at the moment, the coaxial small rotor wings 5 and 6 of the unmanned aerial vehicle start to rotate to drive the unmanned aerial vehicle to radially move towards the target object, in the advancing process, the camera 9 continuously transmits the space coordinates of the target object and the distance from the unmanned aerial vehicle, the unmanned aerial vehicle analyzes the obtained coordinates of the target object, the path is corrected through a PID algorithm, and the advancing path of the unmanned aerial vehicle is guaranteed to be a stable straight line. Further, after unmanned aerial vehicle flies to a certain distance from the target object, the camera transmits the distance detected at the moment to the unmanned aerial vehicle, the unmanned aerial vehicle checks that the distance from the target object at the moment is limited, the two coaxial small rotors (5 and 6) stop rotating slowly, the unmanned aerial vehicle does not advance, and finally hovers in the air. At this time, the second detecting arm joint 20, the third detecting arm joint 21 and the fourth detecting arm joint 22 rotate to drive the camera 23 to observe the target object at multiple angles at multiple times and multiple angles and the distance x 1 ，y 1 d 1 ，x 2 ，y 2 d 2 ...x n ，y n d n And sending the data to two grabbing mechanical arms at the bottom, analyzing each group of coordinates by the mechanical arms, reducing errors, successfully obtaining the specific spatial position of the target object, and respectively calculating the rotation angle of each steering engine required by grabbing by the two mechanical arms according to inverse kinematics analysis. Further, the anti-burning steering engine 11 starts to drive the mechanical claw,two claws are gradually opened by a certain angle through gear engagement of the tail part, a further digital steering engine 14 drives a mechanical arm to move, the mechanical arm drives a mechanical claw to slowly approach a target object, after the target object reaches a specified position, the digital steering engine 14 stops driving, then an anti-blocking steering engine 12 drives the mechanical claw to rotate, the mechanical claw stops moving after the target object rotates to a specified angle, the target object to be clamped is located in the middle of the mechanical claw, the further anti-blocking steering engine 12 drives the mechanical claw to close, the target object is successfully clamped, the clamping work is completed at the moment, then the set return route is automatically executed by an unmanned aerial vehicle, and finally the air clamping work is successfully completed.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and those skilled in the art can make various changes and modifications within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. Mechanical snatching system of aircraft arm based on vision, its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body and two six-degree-of-freedom mechanical arms with the same structure, wherein the two six-degree-of-freedom mechanical arms are used as grabbing mechanical arms and are fixed at the bottom of the unmanned aerial vehicle body;
the system also comprises a seven-degree-of-freedom mechanical arm, wherein a camera module is arranged on the seven-degree-of-freedom mechanical arm and is used as a detection arm;
the grabbing mechanical arm is matched with the detection arm to complete grabbing operation.
2. The vision-based robotic arm motorized grasping system according to claim 1, wherein: the unmanned aerial vehicle body comprises a body, a power system and a control system; the control system comprises a fixed frame, the fixed frame penetrates through the interior of the whole unmanned aerial vehicle body, and a gravity center adjusting device is installed in the fixed frame and used for controlling the balance of the unmanned aerial vehicle; the power system comprises coaxial rotors and a servo motor and provides power output for the unmanned aerial vehicle, a support is connected to the fixed frame and used for connecting the rotors.
3. The vision-based robotic arm motorized grasping system according to claim 2, wherein: the four motors are symmetrically arranged at the bracket end of the aircraft, and a flight control computer and external equipment are arranged in the middle of the bracket in an air-free mode;
the unmanned aerial vehicle body is respectively controlled to have the little rotor of a pair of vertical face for maintain the stability of aircraft organism.
4. The vision-based robotic arm motorized grasping system according to claim 1, wherein: the gravity center adjusting device comprises a balancing weight, a gear, a sliding rail, a pulley, a fixed support and a first stepping motor; the counterweight block comprises a battery and a first stepping motor, the counterweight block is arranged on a fixed support, the slide rail penetrates through the middle of the fixed support and is arranged on a fixed frame, slide grooves are distributed on two sides of the slide rail, and the slide groove on one side is provided with teeth; the pulley is arranged on the non-tooth side of the sliding chute, freely moves in the sliding chute to reduce friction, and the gear is fixed on the output shaft of the first stepping motor, is arranged on the tooth side and is matched with the teeth in the sliding chute; the output end of the first stepping motor is connected with a gear, the gear is meshed with the insections on the surface of the sliding groove, and the motor drives the gear to rotate so that the balancing weight moves back and forth on the sliding rail.
5. The vision-based robotic arm motorized grasping system according to claim 1, wherein: the grabbing mechanical arm comprises a grabbing system, a supporting system and a control system; the grabbing mechanical arm is provided with six digital steering engines with six degrees of freedom, comprises a large arm, a small arm and a rotating base and is used for realizing multi-angle long-distance grabbing.
6. The vision-based robotic arm motorized grasping system according to claim 5, wherein: the grabbing system comprises three driving steering engines and alloy claws, wherein the tail ends of the alloy claws are gears which are meshed with each other, so that the alloy claws symmetrically extend, and the driving steering engines are connected with the alloy claws and control the extension of the alloy claws;
two alloy claws are arranged in the grabbing system, and a plurality of grooves are formed in the inner sides of the alloy claws.
7. The vision-based robotic arm motorized grasping system according to claim 5, wherein: the support system is a support frame which is fixed on the inner side of the mechanical arm, the bottom of the support frame is provided with a row of telescopic support columns, the support columns are divided into multiple stages, the ejection and the contraction of each stage are realized through the stretching and the compression of an internal spring, the bottom of the spring is wrapped with an extensible support sheet, and the extension and the contraction of the support sheet can be realized through the movement of a sliding block in a sliding groove.
8. The vision-based aerial robot arm motorized grasping system of claim 5, wherein: the control system comprises a main control panel, wherein the main control panel carries various CPU chips, and the main control panel comprises a bus interface, a steering engine interface, a Bluetooth interface and a usb interface, and is used for realizing communication with various external structures.
9. The vision-based robotic arm motorized grasping system according to claim 1, wherein: the detection arm comprises seven rotating joints, a camera module is fixedly carried at the front end of the detection arm, and the detection arm can realize all-dimensional detection and identification of the surrounding environment through the rotation of the motor driven joint by the camera.
10. The vision-based robotic arm motorized grasping system according to claim 9, wherein: the inner structure of the detection arm joint comprises two bottom plates, a spring, two support columns, a transmission shaft and two rotating shafts; two servo motors used for driving the bottom plate to rotate are fixed on the bottom plate, the bottom plate is driven to rotate around a shaft through motor driving, rotation of a joint horizontal plane is achieved, a motor driving rotating shaft at the rotating shaft position drives the bottom plate to stretch a compression spring through a transmission shaft, and accordingly rotation of the joint up and down is achieved.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117067226A (en) * | 2023-08-17 | 2023-11-17 | 兰州交通大学 | Steel bridge rust detection robot and rust detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117067226A (en) * | 2023-08-17 | 2023-11-17 | 兰州交通大学 | Steel bridge rust detection robot and rust detection method |
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