CN216803426U - Power transmission line operation aerial robot based on human-computer interaction mixed reality - Google Patents
Power transmission line operation aerial robot based on human-computer interaction mixed reality Download PDFInfo
- Publication number
- CN216803426U CN216803426U CN202122857650.6U CN202122857650U CN216803426U CN 216803426 U CN216803426 U CN 216803426U CN 202122857650 U CN202122857650 U CN 202122857650U CN 216803426 U CN216803426 U CN 216803426U
- Authority
- CN
- China
- Prior art keywords
- steering engine
- aerial robot
- plate
- fixed
- transmission line
- 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.)
- Expired - Fee Related
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 34
- 230000003993 interaction Effects 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 239000000758 substrate Substances 0.000 abstract description 8
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000003245 working effect Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 241001272720 Medialuna californiensis Species 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000005499 meniscus Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a power transmission line operation aerial robot based on human-computer interaction mixed reality, and relates to the technical field of aerial robots. According to the utility model, the adjusting mechanism adopts a serial structure, so that the whole device has the advantage of large operable space, when the device works, the subsequent structure rotates along the Y axis by taking the substrate as a reference through starting the first steering engine, and rotates along the X axis by taking the second steering engine as a reference through starting the second steering engine, so that the grabbing mechanism can be subjected to angle adjustment in different directions for many times through the work of the first steering engine, the second steering engine, the third steering engine, the fourth steering engine and the fifth steering engine in the whole use, and the working effect of the grabbing mechanism is improved.
Description
Technical Field
The utility model relates to the technical field of aerial robots, in particular to a power transmission line operation aerial robot based on human-computer interaction mixed reality.
Background
The aerial robot combines through increasing the arm on unmanned aerial vehicle to make unmanned aerial vehicle move freely aerial robot in being equivalent to an overhead, can accomplish, adapt to more application scenario, can realize grabbing in the air and transport the task, there are many tasks to need to be different from the aircraft that can carry out the operation of ordinary aerial vehicle in industrial unmanned aerial vehicle field and accomplish some specific tasks.
However, in the current market, some simple grabbing and operation experiments can be carried out on the four-rotor aircraft loaded with the flight paw, but due to the fact that the operation type robot is simple in structure and cannot calculate a complete mechanical arm system, the operation range is very limited, the operation capability is also very limited directly, and the operation flexibility is greatly limited.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a power transmission line operation aerial robot based on man-machine interaction mixed reality, and aims to overcome the defects that in the prior art, the existing equipment is provided with a simple assembly structure, so that the aerial robot can only perform some simple grabbing and operation experiments, the operation range is very limited, the operation capacity is also very limited, and the operation flexibility is greatly limited.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a power transmission line operation aerial robot based on human-computer interaction mixed reality comprises a base plate, an operator, a teaching mechanical arm, an aerial robot body, a binocular camera and a virtual reality helmet, wherein an adjusting mechanism is arranged at the bottom of the base plate, a grabbing mechanism is arranged at the bottom of the adjusting mechanism, and a disassembling and assembling mechanism is arranged at the top of the base plate;
the adjusting mechanism comprises a disc, the bottom of the disc is fixed with a base plate through screws, the bottom of the disc is fixed with a hollow tube through screws, the inside of the hollow tube is rotatably connected with a connecting plate, the top of the base plate is fixed with a first steering engine, the output end of the first steering engine rotatably penetrates into the hollow tube, the output end of the first steering engine is fixedly connected with the top of the connecting plate, the bottom of the connecting plate is fixed with a second steering engine through screws, the output end of the second steering engine is fixedly connected with a first U-shaped plate, the bottom of the first U-shaped plate is fixed with a base through screws, the inner surface wall of one side of the base is rotatably connected with a shell, the inner surface wall of one side of the shell is fixed with a third steering engine through screws, the output end of the third steering engine is rotatably connected with the inner surface wall of the other side of the base, and the bottom of the shell is fixed with a second U-shaped plate through screws, the inner surface wall of one side of the second U-shaped plate is rotatably connected with a first limiting plate, a fourth steering engine is fixed to the inner surface wall of one side of the first limiting plate through screws, the output end of the fourth steering engine is rotatably connected with the inner surface wall of the other side of the second U-shaped plate, a second limiting plate is fixed to the bottom of the first limiting plate through screws, and a fifth steering engine is fixed to the bottom surface of the second limiting plate through screws.
Preferably, four connecting rods are fixed to the top of the disk, and the top ends of the four connecting rods penetrate to the outside of the substrate.
Preferably, the grabbing mechanism comprises a supporting plate, the top of the supporting plate is fixedly connected with an output shaft of a fifth steering engine through a flange plate, the rear surface of the supporting plate is rotatably connected with two gear plates, a sixth steering engine is fixed at the center of the front surface of the supporting plate through screws, the output end of the sixth steering engine is rotatably penetrated through the outer portion of the supporting plate, and the output end of the sixth steering engine is fixedly connected with one of the gear plates through screws.
Preferably, the front surfaces of the two gear plates are rotatably connected with menisci, and the front surfaces and the rear surfaces of the two menisci are rotatably connected with two connecting rods.
Preferably, the four connecting rods are divided into two groups, the rear surfaces of two connecting rods in one group are rotatably connected with the front surface of the supporting plate, and the front surfaces of two connecting rods in the other group are rotatably connected with the rear surface of the supporting plate.
Preferably, the anterior surfaces of both of the menisci are fixed with three splints by screws.
Preferably, the disassembly and assembly mechanism comprises a top plate, the bottom of the top plate is fixed between the top ends of the four connecting rods, and two supporting blocks are fixed on the top of the top plate.
Preferably, a cover plate is fixed between the tops of the two support blocks, four rotating shafts are fixed at the bottom of the cover plate, first limiting rings are sleeved on the outer surfaces of the two rotating shafts in a rotating mode, second limiting rings are sleeved on the outer surfaces of the other two rotating shafts in a rotating mode, and arc-shaped blocks are fixed on the inner surface wall of one side of each of the two first limiting rings and the inner surface wall of one side of each of the two second limiting rings.
Preferably, the two first limiting rings and the two second limiting rings of the two first limiting rings are divided into two groups, and an extension spring is fixed between the outer surfaces of the opposite sides of one first limiting ring and one second limiting ring of each group.
Preferably, the operator is used for using the aerial robot of controlgear control to carry out work, the teaching arm is used for the arm of the aerial robot installation of operator real-time control, the teaching arm is controlled by the operator, aerial robot body makes for aerial unmanned aerial vehicle and arm combination, aerial robot body and teaching arm signal connection, two mesh cameras are used for taking notes real-time environment information and sending, two mesh cameras are installed in aerial robot body bottom, the virtual reality helmet is used for receiving the environment information that two mesh cameras sent in real time and feeds back to the operator, virtual reality helmet and two mesh camera signal connection, the virtual reality helmet is worn at the operator head.
Compared with the prior art, the utility model has the following beneficial technical effects:
1. according to the utility model, the adjusting mechanism is of a serial structure, so that the whole device has the advantage of large operable space, when the device works, the subsequent structure rotates along the Y axis by taking the substrate as a reference through starting the first steering engine, the subsequent structure rotates along the X axis by taking the second steering engine as a reference through starting the second steering engine, the third steering engine drives the subsequent structure to rotate and simultaneously drives the shell to rotate when working, the subsequent structure rotates along the X axis by taking the subsequent structure as a reference through starting the second steering engine when the shell rotates, then the fourth steering engine is started, the subsequent structure rotates along the X axis by taking the fourth steering engine as a reference, finally the fifth steering engine is started to work, when the fifth steering engine works, the grabbing mechanism rotates along the Y axis by taking the fifth steering engine as a reference, the grabbing mechanism is integrally used, and the first steering engine, the second steering engine and the second steering engine are used, The third steering engine, the fourth steering engine and the fifth steering engine work to realize angle adjustment in different directions for a plurality of times on the grabbing mechanism, so that the working effect of the grabbing mechanism is improved.
2. According to the clamping device, after the grabbing mechanism is adjusted to a required position, the sixth steering engine is started, when the sixth steering engine works, the two gear plates synchronously rotate in opposite directions, the two half-moon plates rotate, the connecting rods are used in a matched mode, the half-moon plates rotate in opposite directions on the gear plates, the clamping plates are driven to rotate at the same time, clamping work on articles is achieved, the sixth steering engine drives the clamping plates to rotate to clamp the articles in the whole use mode, and the clamping work is simple and convenient.
3. In the utility model, when the device is installed, the first limiting ring and the second limiting ring are firstly pressed, the top plate is placed at the bottom of the unmanned aerial vehicle connecting pipe when the first limiting ring and the second limiting ring rotate, and then the pressing on the first limiting ring and the second limiting ring is stopped, so that when the unmanned aerial vehicle connecting pipe is clamped in the groove, the installation work of the device is realized, the device is integrally used, the installation work is simple and convenient by taking the extension spring as power, and the use effect of the device is greatly improved.
4. In the utility model, the virtual reality helmet and the network binocular camera are used for interacting with the aerial robot body, and in the work, the virtual reality helmet and the network camera are combined to provide the telepresence interaction experience of the mechanical arm and the working space thereof, and simultaneously, the mechanical arm is taught to enable an operator to interact with the aerial robot from a remote position virtually, the work mainly aims at improving the interaction experience with the aerial robot technology by using the emerging technology of virtual reality and realizing the mixed reality effect by combining the virtual model of the controller, the significance of the work is to provide a solution for teaching the robot (such as a space robot) in a dangerous environment (such as a foreign matter place for processing an overhead line) or other remote environments, so that a human demonstrator can interact with the robot telepresence without approaching the robot, and the teaching is carried out on the device to learn the relevant working skills.
Drawings
The accompanying drawings are included to provide a further understanding of the utility model, and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model, and together with the description serve to explain the utility model and not to limit the utility model.
Fig. 1 is a schematic front-view three-dimensional structure diagram of a power transmission line operation aerial robot based on human-computer interaction mixed reality, provided by the utility model;
fig. 2 is a schematic front perspective structure diagram of an aerial robot operated by a power transmission line based on human-computer interaction mixed reality provided by the utility model;
FIG. 3 is a schematic diagram of a three-dimensional structure of a grabbing mechanism of a power transmission line operation aerial robot based on human-computer interaction mixed reality, provided by the utility model;
fig. 4 is a schematic diagram of a partial overhead three-dimensional structure of a power transmission line operation aerial robot based on human-computer interaction mixed reality provided by the utility model;
fig. 5 is a schematic view of a partial front sectional perspective structure of a power transmission line operation aerial robot based on human-computer interaction mixed reality provided by the utility model;
FIG. 6 is a partial enlarged view of the area A in FIG. 2 of the power transmission line operation aerial robot based on human-computer interaction mixed reality proposed by the present invention;
FIG. 7 is a flow chart of a control logic for operating an aerial robot on a power transmission line based on a human-computer interaction mixed reality proposed by the present invention;
FIG. 8 is a logic diagram of a control system for an aerial robot operated by a power transmission line based on a human-computer interaction mixed reality proposed by the present invention;
fig. 9 is a schematic diagram of a human-computer interaction system for operating an aerial robot on a power transmission line based on human-computer interaction mixed reality provided by the utility model;
fig. 10 is a schematic diagram of a human-computer interaction system for operating an aerial robot on a power transmission line based on human-computer interaction mixed reality.
Wherein, 1, a substrate; 2. an adjustment mechanism; 201. a disc; 202. a chassis; 203. a hollow tube; 204. a connecting plate; 205. a first steering engine; 206. a connecting rod; 207. a second steering engine; 208. a first U-shaped plate; 209. a base; 210. a housing; 211. a third steering engine; 212. a second U-shaped plate; 213. a first limit plate; 214. a fourth steering engine; 215. a second limiting plate; 216. a fifth steering engine; 3. a grabbing mechanism; 301. a support plate; 302. a gear plate; 303. a meniscus; 304. a connecting rod; 305. a splint; 306. a sixth steering engine; 4. a disassembly and assembly mechanism; 401. a top plate; 402. a supporting block; 403. a cover plate; 404. a rotating shaft; 405. a first limit ring; 406. a second stop collar; 407. an arc-shaped block; 408. an extension spring; 5. an operator; 6. a teaching mechanical arm; 7. an aerial robot body; 8. a binocular camera; 9. virtual reality helmet.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments of the present disclosure.
The specific arrangement and function of the adjusting mechanism 2, the gripping mechanism 3 and the dismounting mechanism 4 will be described in detail below.
As shown in fig. 1-2 and 4, the adjusting mechanism 2 comprises a disc 201, a chassis 202 is fixed at the bottom of the disc 201 through screws, a hollow tube 203 is fixed at the bottom of the disc 201 through screws, a connecting plate 204 is rotatably connected inside the hollow tube 203, a first steering gear 205 is fixed at the top of the base plate 1, an output end of the first steering gear 205 is rotatably penetrated inside the hollow tube 203, an output end of the first steering gear 205 is fixedly connected with the top of the connecting plate 204, a second steering gear 207 is fixed at the bottom of the connecting plate 204 through screws, a first U-shaped plate 208 is fixedly connected with an output end of the second steering gear 207, a base 209 is fixed at the bottom of the first U-shaped plate 208 through screws, a shell 210 is rotatably connected with the inner surface wall on one side of the base 209, a third steering gear 211 is fixed on the inner surface wall on one side of the shell 210 through screws, and an output end of the third steering gear 211 is rotatably connected with the inner surface wall on the other side of the base 209, the bottom of casing 210 is fixed with second U template 212 through the screw, the table wall rotates in one side of second U template 212 and is connected with first limiting plate 213, the table wall is fixed with fourth steering wheel 214 through the screw in one side of first limiting plate 213, the output of fourth steering wheel 214 rotates with the table wall in the opposite side of second U template 212 and is connected, the bottom of first limiting plate 213 is fixed with second limiting plate 215 through the screw, the inside bottom surface of second limiting plate 215 is fixed with fifth steering wheel 216 through the screw, the top of disc 201 is fixed with four connecting rods 206, the top of four connecting rods 206 runs through to the outside of base plate 1.
The whole adjusting mechanism 2 has the advantages that the adjusting mechanism 2 adopts a series structure, so that the whole device has large operable space, when the device works, the first steering gear 205 is started, the connecting plate 204 can rotate when the first steering gear 205 works, further the subsequent structure rotates along the Y axis by taking the substrate 1 as the reference, the second steering gear 207 is fixedly connected with the connecting plate 204 by starting the second steering gear 207, so that the subsequent structure rotates along the X axis by taking the second steering gear 207 as the reference, the third steering gear 211 is started to drive the subsequent structure to rotate when the third steering gear 211 works and drive the shell 210 to rotate, when the shell 210 rotates, the subsequent structure rotates along the X axis by taking the subsequent structure as the reference, then the fourth steering gear 214 is started, when the fourth steering gear 214 works, the subsequent structure can be driven to rotate and simultaneously drive the first limiting plate 213 to rotate, the subsequent structure is enabled to rotate along an X axis by taking the fourth steering engine 214 as a reference, the fifth steering engine 216 is finally started to work, when the fifth steering engine 216 works, the grabbing mechanism 3 is enabled to rotate along a Y axis by taking the fifth steering engine 216 as a reference, in the aspect of integral use, angle adjustment in multiple different directions of the grabbing mechanism 3 is achieved by the aid of the first steering engine 205, the second steering engine 207, the third steering engine 211, the fourth steering engine 214 and the fifth steering engine 216, and accordingly working effects of the grabbing mechanism 3 are improved.
As shown in fig. 1-3, the grabbing mechanism 3 comprises a supporting plate 301, the top of the supporting plate 301 is fixedly connected with an output shaft of a fifth steering gear 216 through a flange, the rear surface of the supporting plate 301 is rotatably connected with two gear plates 302, the center of the front surface of the supporting plate 301 is fixed with a sixth steering gear 306 through screws, the output end of the sixth steering gear 306 rotatably penetrates the outside of the supporting plate 301, the output end of the sixth steering gear 306 is fixedly connected with one of the gear plates 302 through screws, the front surfaces of the two gear plates 302 are rotatably connected with a meniscus 303, the front and rear surfaces of the two meniscus 303 are rotatably connected with two connecting rods 304, the four connecting rods 304 are divided into two groups, and the rear surfaces of a set of two links 304 are rotatably coupled to the front surface of the support plate 301, and the front surfaces of the other two links 304 are rotatably coupled to the rear surface of the support plate 301, and the front surfaces of the two meniscus plates 303 are each fixed with three clamping plates 305 by screws.
The whole grabbing mechanism 3 has the effects that after the grabbing mechanism 3 is adjusted to a required position, the sixth steering engine 306 is started, when the sixth steering engine 306 works, one of the gear plates 302 rotates, because the gear plate 302 is formed by a half-gear structure and a rectangular plate structure, and the outer surface gears of the two gear plates 302 are meshed and connected, so that the two gear plates 302 synchronously rotate in opposite directions, and further the two half-moon plates 303 rotate, the half-moon plates 303 rotate in opposite directions when the gear plates 302 rotate by using the connecting rod 304 in a matching way, and simultaneously the clamping plate 305 is driven to rotate, so that the object is clamped, the clamping plate 305 is driven by the sixth steering engine 306 to rotate to clamp the object, so that the clamping work is simple and convenient, wherein the clamping plate 305 is of a half-arc-shaped single-side belt saw-tooth and flat aluminum alloy sheet structure on the other side, the six clamp plates 305 are divided into two groups, and each group of three clamp plates 305 are vertically stacked with a space therebetween, and are connected by PCS bolts of M3.
As shown in fig. 4-6, the dismounting mechanism 4 includes a top plate 401, the bottom of the top plate 401 is fixed between the top ends of the four connecting rods 206, the top of the top plate 401 is fixed with two supporting blocks 402, a cover plate 403 is fixed between the top of the two supporting blocks 402, the bottom of the cover plate 403 is fixed with four rotating shafts 404, wherein the outer surfaces of the two rotating shafts 404 are rotatably sleeved with first limiting rings 405, the outer surfaces of the other two rotating shafts 404 are rotatably sleeved with second limiting rings 406, the inner surface walls of one side of the two first limiting rings 405 and the two second limiting rings 406 are both fixed with arc-shaped blocks 407, the two second limiting rings 406 of the two first limiting rings 405 are divided into two groups, and a tension spring 408 is fixed between the outer surface of the opposite side of each group of one first limiting ring 405 and one second limiting ring 406.
The whole dismounting mechanism 4 has the effects that when the dismounting mechanism is installed, the first limiting ring 405 and the second limiting ring 406 are firstly pressed, when the first limiting ring 405 and the second limiting ring 406 rotate, the top plate 401 is placed at the bottom of the unmanned aerial vehicle connecting pipe, then the pressing of the first limiting ring 405 and the second limiting ring 406 is stopped, the extension spring 408 drives the two first limiting rings 405 and the two second limiting rings 406 to rotate in opposite directions through restoring force generated by self deformation, and the unmanned aerial vehicle connecting pipe is clamped in the groove by matching with the grooves formed by the first limiting ring 405 and the second limiting ring 406, so that the installation work of the device is realized, and by using the arc-shaped block 407, when the unmanned aerial vehicle connecting pipe is clamped, connecting rods with different diameters can be always contacted with the inner top surfaces of the first limiting ring 405 and the second limiting ring 406, so as to increase the installation stability of the device, in the whole use, the installation work is simple and convenient by taking the extension spring 408 as power, and the use effect of the device is greatly improved.
The first steering engine 205, the second steering engine 207, the third steering engine 211, the fourth steering engine 214, the fifth steering engine 216 and the sixth steering engine 306 are all digital steering engines, the digital steering engines only provide PWM pulse signals for the digital steering engines during working, rotation of all angles can be achieved, the weight of a single digital steering engine is 64g, the overall weight of the aerial robot can be greatly reduced, and using effects are achieved.
In use, the power device of the aerial robot solves forward and backward directions based on robot kinematics to obtain a control scheme based on the speed and the position of the steering engine, and finally the two schemes are combined, a digital steering engine is selected to provide 15kg/cm of torque, the locking angle can be unchanged by sending a control signal once, and the control precision is high. The PWM pulse signal adjusts the angle, and the fixed period is 20 ms. The outgoing line of the digital steering engine is marked with GND and is indicated as the negative pole connected with a power supply, and the color of the corresponding line is black; the outgoing line is marked with VCC and is shown as the anode connected with the power supply, the color of the corresponding line is red, and the corresponding line is generally positioned in the middle of the three lines; and the other signal line is used for receiving the PWM signal, and the corresponding color is white. A signal with the period of 20ms and the width of 1.5ms is generated in the digital steering engine. And then, making a difference between the direct current bias voltage and the voltage of a potentiometer in the digital rudder machine, and finally outputting the voltage difference. In addition, the positive voltage difference enables the digital steering engine to rotate forwards, the negative voltage difference enables the digital steering engine to rotate backwards, and when the bias voltage is equal to the potentiometer voltage, the digital steering engine stops rotating. The mathematical modeling of the mechanical arm is mainly to study the position, the speed and the acceleration of the mechanical arm. In a common situation, the position and the posture of the mechanical arm are expressed by utilizing a matrix, then the forward and inverse kinematics among all structures of the mechanical arm are analyzed, and finally a D-H method is applied to calculate the forward and inverse kinematics equation of the mechanical arm;
the robot arm control module of the aerial robot is provided by a PWM pulse signal using a control signal of the robot arm. Firstly, a four-rotor unmanned aerial vehicle with a mechanical arm flies above a target object stably; then the quadrotor unmanned aerial vehicle vertically descends to a proper height away from the target object; then, the mechanical arm is operated, the mechanical arm is extended and rotated through a plurality of structures, the tail end of the mechanical arm is enabled to reach a position where a target object can be grabbed, the opening and closing of the clamping jaw are controlled through a PWM pulse control signal received by the sixth steering engine 306, and the accurate and stable clamping jaw is implemented on the target; the quad-rotor unmanned aerial vehicle vertically takes off to a set height and then horizontally flies to a destination to hover; and finally, the platform is smoothly landed at the destination. The mechanical arm control scheme comprises a hardware interface layer, a communication layer, an application layer and a control layer from bottom to top. The hardware interface layer is used for connecting the steering engine with a serial port of an upper computer and provides a channel foundation for signal reading and writing. The communication layer is primarily responsible for sending specific instructions based on the protocol. The controller and the steering engine are communicated in a question-answering mode, the controller sends out an instruction packet, and the steering engine returns a response packet. A bus control network allows a plurality of steering engines, so each steering engine is assigned a unique ID number in the network. The control command sent by the controller contains ID information, and only the steering engine matched with the ID number can completely receive the command and return response information. The application layer mainly packages partial control instructions and converts data formats, such as position, speed, voltage, temperature and other parameters of a read-write steering engine, is a very flexible and very important ring in the whole control scheme, and different application layer modules can be written based on different requirements to serve different control requirements of the control layer, such as requirements for synchronous/asynchronous instruction writing of a plurality of motors. The control layer is the top layer of the overall control scheme;
most of the air robot work occasions with the mechanical arm are in high altitude, and an operator can only observe and operate the unmanned aerial vehicle system with the mechanical arm on the ground, so that real-time communication needs to be established between the mechanical arm and the operator. To four rotor unmanned aerial vehicle will launch radio Link-AT10 and establish real-time communication with four rotor unmanned aerial vehicle, the arm will launch HL-DE475833 bluetooth mode and establish real-time communication. The following three steps are divided, first, uart _ init is initialized (115200), and a communication interface with STM32 is established. The wireless transmission module adopts a wireless transmission suite (RC832+ TS832S) based on a 5.8g wireless transmission protocol, and due to the fact that fewer wireless devices in the frequency band are used, interference caused by other radios is effectively avoided, and effective transmission of image data is achieved. In addition, the wireless transmission kit has stable signal transmission and long signal transmission distance, and can ensure the reliable transmission of control signals and video signals. The mechanical arm control board is mainly used for receiving control signals to control the rotation of a mechanical arm steering engine so as to drive the mechanical arm to move;
as shown in fig. 8, a1 represents a control command for controlling the third steering engine 211, a2 represents a control command for controlling the fourth steering engine 214, A3 represents a control command for controlling the fifth steering engine 216, and a4 represents a control command button for controlling the sixth steering engine 306. In order to prevent the PWM pulse signal from not being responded in time, a protection switch is added; after the measure of increasing the clamping force at the tail end is executed, and the target object is approached, the upper fine adjustment button and the lower fine adjustment button can be adjusted again to control the mechanical arm to grasp the angle. Meanwhile, real-time monitoring is facilitated;
meanwhile, the specific data of the PWM pulse signal output by the APP increases the data feedback function. In order to enable the designed aerial robot with the mechanical arm to smoothly complete the clamping jaw task, program control design is a crucial step. The STM32 chip is exported through the bluetooth to ground station operating command, and the chip will decode above data after the accurate instruction of receiving, later with the PWM signalling that the digital steering engine can discern go out, the arm will move according to the instruction received. The control process of the digital steering engine was first developed using STM32 development board. The overall control logic flow is shown in figure 7.
The effect that its whole embodiment 2 reaches, the utility model is used for interacting with aerial robot body 7 through virtual reality helmet 9 and network binocular camera 8 when using, in this work, uses virtual reality helmet 9 and network camera to combine, provides the telepresence interactive experience of arm and workspace. Meanwhile, the teaching mechanical arm 6 enables an operator to interact with the aerial robot through a virtual slave remote position, the main purpose of the work is to improve the interaction experience with the aerial robot technology by using the emerging technology of virtual reality, and the virtual model of the controller is combined to realize the mixed reality effect. The significance of the work is that a solution is provided for teaching a robot (such as a space robot) in a dangerous environment (such as a foreign matter place for processing a high-altitude line) or other remote environments, so that a human demonstrator can interact with the robot in a telepresence manner without approaching the robot and can teach the robot to learn related working skills, the whole aerial robot intelligent equipment teaching system is provided, an operator 5 controls a mechanical arm carried by an aerial robot body 7 through a teaching mechanical arm 6, and meanwhile, the operator can observe the state of a power transmission line and the motion state of the mechanical arm in real time at a first visual angle by wearing a virtual helmet 9, so that real telepresence interaction is realized, and the operator 5 can better and remotely control the robot to complete tasks.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (10)
1. The utility model provides an aerial robot of transmission line operation based on human-computer interaction mixed reality, includes base plate (1), operator (5), teaching arm (6), aerial robot body (7), binocular camera (8) and virtual reality helmet (9), its characterized in that: the bottom of the base plate (1) is provided with an adjusting mechanism (2), the bottom of the adjusting mechanism (2) is provided with a grabbing mechanism (3), and the top of the base plate (1) is provided with a dismounting mechanism (4);
the adjusting mechanism (2) comprises a disc (201), a chassis (202) is fixed at the bottom of the disc (201) through screws, a hollow pipe (203) is fixed at the bottom of the disc (201) through screws, a connecting plate (204) is rotatably connected inside the hollow pipe (203), a first steering engine (205) is fixed at the top of the base plate (1), the output end of the first steering engine (205) rotates to penetrate into the hollow pipe (203), the output end of the first steering engine (205) is fixedly connected with the top of the connecting plate (204), a second steering engine (207) is fixed at the bottom of the connecting plate (204) through screws, a first U-shaped plate (208) is fixedly connected at the output end of the second steering engine (207), a base (209) is fixed at the bottom of the first U-shaped plate (208) through screws, and a shell (210) is rotatably connected to the inner surface wall of one side of the base (209), the utility model discloses a motor cabinet, including casing (210), top case, bottom case, top case, bottom case, top case, bottom case, top case, bottom case, bottom case, bottom, and bottom case, bottom case, bottom, and bottom case, and bottom, and bottom case, bottom, and bottom, and bottom, and bottom, and bottom, and bottom, and.
2. The power transmission line operation aerial robot based on human-computer interaction mixed reality according to claim 1, characterized in that four connecting rods (206) are fixed on the top of the disc (201), and the top ends of the four connecting rods (206) penetrate to the outside of the base plate (1).
3. The electric transmission line operation aerial robot based on human-computer interaction mixed reality is characterized in that the grabbing mechanism (3) comprises a supporting plate (301), the top of the supporting plate (301) is fixedly connected with an output shaft of a fifth steering engine (216) through a flange plate, the rear surface of the supporting plate (301) is rotatably connected with two gear plates (302), a sixth steering engine (306) is fixed to the center of the front surface of the supporting plate (301) through screws, the output end of the sixth steering engine (306) rotatably penetrates through the outer portion of the supporting plate (301), and the output end of the sixth steering engine (306) is fixedly connected with one of the gear plates (302) through screws.
4. The power transmission line operation aerial robot based on human-computer interaction mixed reality according to claim 3, characterized in that menisci (303) are rotatably connected to the front surfaces of the two gear plates (302), and two connecting rods (304) are rotatably connected to the front and back surfaces of the two menisci (303).
5. The power transmission line operation aerial robot based on human-computer interaction mixed reality is characterized in that four connecting rods (304) are divided into two groups, the rear surfaces of two connecting rods (304) in one group are rotatably connected with the front surface of the supporting plate (301), and the front surfaces of two connecting rods (304) in the other group are rotatably connected with the rear surface of the supporting plate (301).
6. The transmission line operation aerial robot based on human-computer interaction mixed reality of claim 4, characterized in that the front surfaces of the two menisci (303) are fixed with three clamping plates (305) through screws.
7. The man-machine interaction mixed reality-based power transmission line operation aerial robot is characterized in that the dismounting and mounting mechanism (4) comprises a top plate (401), the bottom of the top plate (401) is fixed between the top ends of the four connecting rods (206), and two supporting blocks (402) are fixed to the top of the top plate (401).
8. The power transmission line operation aerial robot based on human-computer interaction mixed reality as claimed in claim 7, wherein a cover plate (403) is fixed between the tops of the two support blocks (402), four rotating shafts (404) are fixed at the bottom of the cover plate (403), a first limiting ring (405) is rotatably sleeved on the outer surfaces of the two rotating shafts (404), a second limiting ring (406) is rotatably sleeved on the outer surfaces of the other two rotating shafts (404), and arc-shaped blocks (407) are fixed on the inner surface wall of one side of each of the two first limiting rings (405) and the two second limiting rings (406).
9. The power transmission line operation aerial robot based on human-computer interaction mixed reality according to claim 8, wherein the two first limiting rings (405) and the two second limiting rings (406) are divided into two groups, and an extension spring (408) is fixed between the outer surfaces of the two opposite sides of one first limiting ring (405) and one second limiting ring (406) in each group.
10. The power transmission line operation aerial robot based on human-computer interaction mixed reality is characterized in that an operator (5) is used for controlling the aerial robot to work by using control equipment, a teaching mechanical arm (6) is used for controlling a mechanical arm installed by the aerial robot in real time by the operator (5), the teaching mechanical arm (6) is controlled by the operator (5), an aerial robot body (7) is formed by combining an aerial unmanned aerial vehicle and the mechanical arm, the aerial robot body (7) is in signal connection with the teaching mechanical arm (6), a binocular camera (8) is used for recording real-time environment information and sending the real-time environment information, the binocular camera (8) is installed at the bottom of the aerial robot body (7), a virtual reality helmet (9) is used for receiving the environment information sent by the binocular camera (8) in real time and feeding the environment information back to the operator (5), virtual reality helmet (9) and binocular camera (8) signal connection, virtual reality helmet (9) are worn at operator (5) head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122857650.6U CN216803426U (en) | 2021-11-19 | 2021-11-19 | Power transmission line operation aerial robot based on human-computer interaction mixed reality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122857650.6U CN216803426U (en) | 2021-11-19 | 2021-11-19 | Power transmission line operation aerial robot based on human-computer interaction mixed reality |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216803426U true CN216803426U (en) | 2022-06-24 |
Family
ID=82049773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122857650.6U Expired - Fee Related CN216803426U (en) | 2021-11-19 | 2021-11-19 | Power transmission line operation aerial robot based on human-computer interaction mixed reality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216803426U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858181A (en) * | 2021-11-19 | 2021-12-31 | 国家电网有限公司 | Power transmission line operation aerial robot based on human-computer interaction mixed reality |
-
2021
- 2021-11-19 CN CN202122857650.6U patent/CN216803426U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858181A (en) * | 2021-11-19 | 2021-12-31 | 国家电网有限公司 | Power transmission line operation aerial robot based on human-computer interaction mixed reality |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111687821B (en) | Rotary parallel flying mechanical arm system and expected rotation angle calculating method | |
| CN109164829B (en) | Flying mechanical arm system based on force feedback device and VR sensing and control method | |
| CN216803426U (en) | Power transmission line operation aerial robot based on human-computer interaction mixed reality | |
| CN105014687A (en) | Mechanical arm with multi-rotor-wing unmanned aerial vehicle | |
| CN111596571A (en) | Combined type unmanned aerial vehicle semi-physical simulation system | |
| Paul et al. | A multirotor platform employing a three-axis vertical articulated robotic arm for aerial manipulation tasks | |
| CN108908363B (en) | Wireless dragging demonstrator system for spraying robot and active demonstration method thereof | |
| CN206501120U (en) | One kind service humanoid robot | |
| CN207565812U (en) | Binary underwater robot with six degrees of freedom | |
| CN111590567B (en) | Space manipulator teleoperation planning method based on Omega handle | |
| CN111081113B (en) | Simulation aerial two-machine refueling docking experiment platform | |
| CN108706097A (en) | A kind of captive rotor flying robot with double-manipulator | |
| CN112692831A (en) | Mechanical arm control system and mechanical arm | |
| CN107598970A (en) | A kind of design method for the flying robot's communication system for carrying redundancy mechanical arm | |
| CN113858181A (en) | Power transmission line operation aerial robot based on human-computer interaction mixed reality | |
| CN110509282B (en) | Teleoperation device of camera robot | |
| CN113968326A (en) | Vector frame type underwater robot | |
| Wu et al. | Aerial grasping based on VR perception and haptic control | |
| CN115870973A (en) | Vision-based aircraft mechanical arm maneuvering grabbing system | |
| CN112379343B (en) | Radar target simulator motion platform equipment and control method thereof | |
| CN214397249U (en) | Carry on parallelly connected arm aircraft | |
| Szabo | Terrestrial drone creation from rover, robotic arm and raspberry Pi with sun tracker function | |
| CN214418817U (en) | Six-degree-of-freedom series-parallel mechanical arm with deflectable tail end | |
| CN208051924U (en) | One kind can expand industry teaching mechanical arm | |
| CN111645081A (en) | Lightweight mechanical arm system loaded on unmanned aerial vehicle and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220624 |