WO2018042693A1 - ロボットアームおよびこれを備える無人航空機 - Google Patents

ロボットアームおよびこれを備える無人航空機 Download PDF

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Publication number
WO2018042693A1
WO2018042693A1 PCT/JP2017/000725 JP2017000725W WO2018042693A1 WO 2018042693 A1 WO2018042693 A1 WO 2018042693A1 JP 2017000725 W JP2017000725 W JP 2017000725W WO 2018042693 A1 WO2018042693 A1 WO 2018042693A1
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WIPO (PCT)
Prior art keywords
arm
robot arm
end effector
distance measuring
obstacle
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PCT/JP2017/000725
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English (en)
French (fr)
Japanese (ja)
Inventor
紀代一 菅木
和雄 市原
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株式会社プロドローン
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Publication of WO2018042693A1 publication Critical patent/WO2018042693A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

Definitions

  • the present invention relates to a collision avoidance technique for a robot arm mounted on an unmanned aerial vehicle.
  • a robot arm has a plurality of joint portions, and a complicated posture can be taken by individually moving these joint portions. Further, the robot arm has a wide range of movement with a radius extending from the base end to the tip end in a straight line. When flying a multicopter equipped with such a robot arm, it is necessary to fly it while paying attention to both the multicopter and the robot arm so that the robot arm does not collide with obstacles around the aircraft. Requires advanced maneuvering skills.
  • the problem to be solved by the present invention is to provide a robot arm that can automatically avoid a collision with an obstacle and an unmanned aircraft including the same.
  • a robot arm of the present invention is mounted on an unmanned aerial vehicle including a plurality of rotary wings, an arm unit having a plurality of joints, and an arm control unit that controls driving of the joints;
  • a distance measuring means for measuring a distance between an end effector attached to a tip of the arm part, an object existing around a fuselage of the aircraft, an obstacle detected by the distance measuring means, and the arm part and the end effector.
  • obstacle avoiding means for controlling the posture of the arm part so as not to collide.
  • the obstacle avoiding means automatically avoids the collision between the arm part or the end effector and the obstacle, so that these collision accidents can be prevented without depending on the operator's maneuvering skill.
  • the image processing apparatus further includes a storage unit that stores information that can identify a current posture of the arm unit, and the obstacle avoidance unit is configured to detect the object detected by the distance measurement unit based on the information in the storage unit. It is good also as a structure which can distinguish whether it is the said obstruction, the said arm part, or the said end effector.
  • the distance measuring means measures the vicinity of the unmanned aircraft body, depending on the posture of the arm part, part of the arm part and end effector may enter the measurement range.
  • the obstacle avoidance means erroneously determines these arm portions as an obstacle, the arm portion or the like avoids itself, so that the movable range is narrowed, and the arm portion may fall out of control.
  • the obstacle avoiding unit can determine whether the object detected by the distance measuring unit is an obstacle, or an arm unit or an end effector. It becomes possible, and such a malfunction can be prevented.
  • the obstacle avoiding means determines that the object gradually approaching from a distance within the measurement range of the distance measuring means is the obstacle, and the obstacle appearing suddenly appears within the measurement range of the distance measuring means.
  • the object may be determined to be the arm unit or the end effector.
  • the plurality of joint portions have three sets of the joint portions when the two joint portions capable of turning in directions orthogonal to each other are taken as one set.
  • the arm portion includes a plurality of link members connected by the plurality of joint portions, and the plurality of link members are arranged on the aircraft from the proximal end side to the distal end side of the arm portion. It has a base part, a shoulder part, an upper arm part, a lower arm part, and a wrist part which is a tip part of the arm part, and the shoulder part rotates in the circumferential direction with respect to the base part.
  • the shoulder portion and the upper arm portion, the upper arm portion and the lower arm portion, and the lower arm portion and the wrist portion are connected to each other by two joint portions that are pivotable in directions orthogonal to each other. It is preferable that it is connected.
  • the joint portion can absorb the movement of the arm portion, the inclination of the airframe, the rotation of the airframe, and the displacement of the arm portion due to the combination thereof.
  • the end effector may be provided with a photographing means for photographing a work target of the end effector.
  • the end effector is provided with photographing means for photographing the work target, the operator of the unmanned aircraft can perform the work while checking the image at hand. Thereby, the quality of the work by the robot arm mounted on the unmanned aerial vehicle can be improved.
  • the end effector may be provided with distance measuring means for measuring the distance from the work object of the end effector.
  • the unmanned aircraft operator can accurately grasp the distance between the end effector and the work target numerically. Can do. Thereby, the quality of the work by the robot arm mounted on the unmanned aerial vehicle can be improved.
  • the unmanned aerial vehicle of the present invention includes a plurality of rotor blades and the robot arm of the present invention.
  • the robot arm of the present invention and the unmanned aerial vehicle including the robot arm, the robot arm automatically detects and avoids the obstacle, thereby avoiding the robot arm and the obstacle without depending on the operator's maneuvering skill. Collisions with objects can be prevented.
  • transmission perspective view which shows the external appearance of the multicopter concerning 1st Embodiment. It is a perspective view which shows the structure of an arm part. It is a schematic diagram which shows the joint structure of the modification of an arm part. It is a schematic diagram which shows the attitude
  • FIG. 1 is a transparent perspective view showing the appearance of the multicopter 100 according to the present embodiment.
  • the multicopter 100 has six rotor support portions 120 extending in the horizontal direction from the machine body central portion 110.
  • the rotor support portions 120 are arranged at equal intervals in the circumferential direction around the fuselage center portion 110 and extend radially from the fuselage center portion 110.
  • a rotor R which is a rotor blade, is disposed at the tip of each rotor support portion 120.
  • the number of rotors of the multicopter 100 is not particularly limited, and the rotor is changed from two helicopters to eight octacopters according to the use, required flight stability, allowable cost, and the like. It can change suitably to the thing provided with more rotors than the group.
  • the machine body central part 110 is provided with an adapter plate 111 to which various attachments can be attached.
  • Two arm portions 500 constituting the robot arm RA of this embodiment are attached to the adapter plate 111.
  • the two arm portions 500 are entirely exposed outside the apparatus. All of the arm portions 500 have the same structure.
  • a hand 600 that is a fork claw-shaped gripper mechanism is attached to the tip of each arm unit 500.
  • the hand 600 is an end effector of the robot arm RA of this embodiment.
  • the end effector used in the present invention is not limited to the hand 600.
  • an end effector suitable for various applications such as a welding device, a screw fastening device, a drilling device, a painting device, and a photographing device can be used. is there.
  • the adapter plate 111 is further connected with a pair of skids 130 that are landing gears of the multicopter 100.
  • the multicopter 100 of FIG. 1 is in a landed state, and these skids 130 are arranged so as to be substantially perpendicular to the ground.
  • the skids 130 of the present embodiment are retractable landing gears, and when the multicopter 100 is flying, these skids 130 are lifted outward in the horizontal direction around the base end by a servo motor (not shown) to support the rotor. It is supported in parallel with the part 120.
  • the skid 130 is returned to the arrangement shown in FIG. 1 by the servo motor. This prevents the skid 130 from restricting the operating range of each arm unit 500 during the flight of the multicopter 100.
  • the skid 130 is not an essential component and may be omitted.
  • FIG. 2 is a perspective view showing the structure of the arm unit 500.
  • the arm unit 500 and the hand 600 of this embodiment constitute a vertical articulated manipulator.
  • the “arm portion” in the present invention does not include an end effector such as the hand 600.
  • the arm portion 500 is configured by four link members of a base portion 510, a shoulder portion 520, an upper arm portion 530, and a lower arm portion 540 from the proximal end side to the distal end side of the arm portion 500 (hereinafter referred to as these members). Are collectively referred to as “link members 510 to 540”).
  • link members 510 to 540 are connected via four joint portions of a shoulder rotation axis J 1 , an upper arm rotation axis J 2 , a lower arm rotation axis J 3 , and a wrist rotation axis J 4 (hereinafter, referred to as “joint rotation axis J 4 ”). These joint portions are collectively referred to as “joint portions J 1 to J 4 ”).
  • Servo motors 551 to 554 are disposed in the joint portions J 1 to J 4 , respectively, and the rotation angle and the turning angle of the joint portions J 1 to J 4 are adjusted by driving the servo motors 551 to 554. Is done.
  • the drive source of the joint portion of the present invention is not limited to the servo motor, and other drive means can be used on the condition that the joint portion can be adjusted to an arbitrary rotation angle and turning angle.
  • the base portion 510 which is the base end portion of the arm portion 500, is attached to the adapter plate 111 (see FIG. 1), and the position of the base portion 510 is fixed with respect to the adapter plate 111.
  • the base portion 510 has a shoulder portion 520 is connected, the shoulder portion 520 can rotate in a circumferential direction about the shoulder rotation axis J 1.
  • the shoulder portion 520 is connected upper arm portion 530, upper arm 530 can pivot in the vertical direction around the upper arm pivot axis J 2.
  • the upper arm 530 is connected is lower arm 540, lower arm 540 can pivot in the vertical direction around the lower arm pivot J 3.
  • the lower arm portion 540 is connected the hand 600, the hand 600 can be rotated in a circumferential direction about the wrist rotation axis J 4.
  • the link members 510 to 540 of the present embodiment are made of a CFRP plate (hereinafter referred to as “CFRP plate”). As shown in FIG. 2, each of the link members 510 to 540 is formed in a frame shape in which the meat is removed while leaving the skeleton. Thereby, the arm part 500 of the present embodiment achieves both weight reduction and strength, and has a configuration suitable for mounting on the multicopter 100.
  • CFRP plate hereinafter referred to as “CFRP plate”.
  • the base portion 510 is a link member formed in a substantially box shape. Inside the base portion 510 a servo motor 551 which constitutes a shoulder rotational axis J 1 is disposed inside the base portion 510 . A shaft body (not shown) of the servo motor 551 passes through the bottom plate 511 of the base portion 510 downward.
  • the shoulder portion 520 is a U-shaped link member, and includes two side plates 521 and 522 arranged in parallel and a top plate 523 arranged perpendicular to the plate surfaces of the side plates 521 and 522. It is configured.
  • the side plates 521 and 522 are arranged with their plate surfaces oriented in the horizontal direction, and the top plate 523 supports the upper ends of the side plates 521 and 522.
  • a shaft body (not shown) of the servo motor 551 is coupled to the top plate 523.
  • This shoulder 520 by is possible to rotate in the circumferential direction about the shoulder rotation axis J 1.
  • the upper arm portion 530 is a substantially rectangular tube-shaped link member, and two side plates 531 and 532 arranged in parallel and the brace-like side plates 533 connecting the end portions of the side plates 531 and 532 in the short direction. 534.
  • the side plates 531 and 532 of the upper arm 530 are arranged so that the outer surfaces in the vicinity of these base end portions are in contact with the inner surfaces of the side plates 521 and 522 of the shoulder 520, respectively.
  • the base end portion of the upper arm 530, on its inner side, the servo motor 552 constituting the upper arm pivot axis J 2 is arranged.
  • a shaft body (not shown) of the servo motor 552 passes through the side plates 531 and 532 of the upper arm portion 530 in the thickness direction, and is coupled to the side plates 521 and 522 of the shoulder portion 520.
  • the upper arm 530 is configured to be able to pivot in the vertical direction around the upper arm pivot axis J 2.
  • the lower arm portion 540 is a substantially rectangular tube-shaped link member, and two side plates 541 and 542 arranged in parallel, and a brace-like side plate 543 connecting end portions of the side plates 541 and 542 in the short direction. , 544.
  • the side plates 531 and 532 of the lower arm portion 540 are arranged so that the inner surfaces in the vicinity of the base end portions are in contact with the outer surfaces in the vicinity of the distal end portions of the side plates 531 and 532 constituting the upper arm portion 530, respectively.
  • the distal end portion of the upper arm 530, on its inner side, the servo motor 553 constituting the lower arm pivot J 3 is arranged.
  • a shaft body (not shown) of the servo motor 553 passes through the side plates 531 and 532 of the upper arm portion 530 in the thickness direction, and is coupled to the side plates 541 and 542 of the lower arm portion 540.
  • This lower arm portion 540 by is possible to pivot vertically about a lower arm pivot J 3.
  • the distal end of the lower arm portion 540 and the vicinity thereof in the present embodiment constitute a wrist portion 540 a formed integrally with the lower arm portion 540.
  • the wrist part 540 a is the tip part of the arm part 500.
  • a front plate 545 disposed perpendicular to the plate surfaces of the side plates 541 and 542 is provided at the tip of the wrist 540a.
  • Servo motor 554 constituting the wrist rotation axis J 4 is disposed on the front plate 545.
  • a shaft body 554 a of the servo motor 554 extends forward through the front plate 545.
  • the shaft 554a has a hand 600 is attached, thereby the hand 600 is configured to be able to rotate about the wrist rotation axis J 4 in the circumferential direction.
  • the number of joints of the arm part of the present invention is not limited to the form of the arm part 500, and can be appropriately changed according to the complexity of work, the required accuracy, the allowable cost, and the like. Below, the modification of the arm part 500 which expanded the joint structure of the arm part 500 is demonstrated.
  • FIG. 3 is a schematic diagram illustrating a joint structure of an arm unit 500 ′ that is a modification of the arm unit 500.
  • the arm portion 500 ′ has an upper arm turning axis J 5 , a lower arm turning axis J 6 , a wrist turning axis J 7 , and a wrist turning axis J 8 ( Hereinafter, these are collectively referred to as “joint portions J 1 to J 8 ”).
  • the upper arm pivot J 2 and the upper arm pivot axis J 5 is a joint pivoting the upper arm portion 530 in a direction orthogonal to each other.
  • Lower arm pivot J 3 and lower arm pivot axis J 6 is a joint pivoting the lower arm portion 540 in a direction orthogonal to each other.
  • Wrist pivot J 7 and the wrist pivot J 8 is a joint turning the wrist portion 540a in the direction orthogonal to each other. Since the arm portion 500 ′ includes these joint portions J 1 to J 8 , unintended movement and inclination of the multicopter 100 can be absorbed by these joint portions J 1 to J 8 , and the wrist portion 540a
  • the posture, that is, the posture of the hand 600 can be kept constant.
  • FIG. 4 is a schematic diagram showing a method of maintaining the posture of the wrist 540a by the arm unit 500 ′.
  • 4A, 4C, and 4D are side views of the arm portion 500 ′
  • FIGS. 4B, 4E, and 4F are front views of the arm portion 500 ′.
  • FIG. 4 for convenience of explanation, only one of the adapter plate 111 and the two arm portions 500 ′ is displayed among the configurations of the multicopter 100, and the other configurations are omitted.
  • FIG. 4A absorbs the movement of the multicopter 100 in the front-rear direction by the upper arm pivot axis J 2 , the lower arm pivot axis J 3 , and the wrist pivot axis J 8. It is an example.
  • FIG. 4B is an example in which the movement of the multicopter 100 in the left-right direction is absorbed by the upper arm pivot axis J 5 , the lower arm pivot axis J 6 , and the wrist pivot axis J 7 .
  • FIG. 4C shows an example in which the movement of the multicopter 100 in the vertical direction is absorbed by the upper arm turning axis J 2 , the lower arm turning axis J 3 , and the wrist turning axis J 8 .
  • FIG. 4A absorbs the movement of the multicopter 100 in the front-rear direction by the upper arm pivot axis J 2 , the lower arm pivot axis J 3 , and the wrist pivot axis J 8.
  • FIG. 4B is an example in which the movement of the multicopter 100
  • FIG. 4 (d) the upper arm pivot J 2, an example that absorbs rocking back and forth direction of the multirotor 100.
  • FIG. 4 (e) by the upper arm pivot J 5 an example for absorbing the swing in the lateral direction of the multirotor 100.
  • the multicopter 100 When the multicopter 100 includes the arm portion 500 ′ and automatically maintains the posture of the wrist portion 540 a, the position of the hand 600 in the air is stabilized, and the operator can concentrate solely on the operation of the hand 600. it can. As a result, the quality of work using the multicopter 100 can be improved.
  • FIG. 5 is a block diagram showing a functional configuration of the multicopter 100.
  • the functions of the multicopter 100 mainly include a flight controller FC, a plurality of rotors R, an ESC 241 (Electric Speed Controller) provided for each of the rotors R, a robot arm RA of the present embodiment, and a battery 900 that supplies power to them. It is comprised by.
  • a basic flight function of the multicopter 100 will be described.
  • Each rotor R is composed of a motor 242 and a blade 243 connected to its output shaft.
  • the ESC 241 is connected to the motor 242 of the rotor R, and rotates the motor 242 at a speed instructed from the flight controller FC.
  • the flight controller FC includes a receiver 231 that receives a steering signal from an operator (transmitter 210), and a control device 220 that is a microcontroller to which the receiver 231 is connected.
  • the control device 220 includes a CPU 221 that is a central processing unit, a memory 222 that is a storage device such as a ROM and a RAM, and a PWM (Pulse Width Modulation) controller 223 that controls the rotation speed of each motor 242 via the ESC 241. ing.
  • the flight controller FC further includes a flight control sensor group 232 and a GPS receiver 233 (hereinafter collectively referred to as “sensors”), which are connected to the control device 220.
  • the flight control sensor group 232 of the multicopter 100 in this embodiment includes a triaxial acceleration sensor, a triaxial angular velocity sensor, an atmospheric pressure sensor (altitude sensor), a geomagnetic sensor (orientation sensor), and the like.
  • the control device 220 can acquire position information of the own aircraft including the latitude and longitude of the aircraft, the altitude, and the azimuth angle of the nose, in addition to the tilt and rotation of the aircraft, using these sensors and the like.
  • the memory 222 of the control device 220 stores a flight control program FCP, which is a program in which an algorithm for controlling the attitude and basic flight operation during the flight of the multicopter 100 is implemented.
  • the flight control program FCP adjusts the number of rotations of each rotor R based on information obtained from a sensor or the like in accordance with an instruction from the operator, and causes the multicopter 100 to fly while correcting the attitude and position disturbance of the fuselage. .
  • the operation of the multicopter 100 is manually performed by the operator using the transmitter 210, and the flight plan FP, which is a parameter such as the flight path, speed, and altitude of the multicopter 100, is registered in the autonomous flight program APP in advance. It is also possible to fly the multicopter 100 autonomously to the destination (hereinafter, such autonomous flight is referred to as “autopilot”).
  • autonomous flight is referred to as “autopilot”.
  • the multicopter 100 in this embodiment has an advanced flight control function.
  • the unmanned aircraft according to the present invention is not limited to the form of the multicopter 100.
  • the robot arm RA is provided, for example, an airframe in which some sensors are omitted from the sensor or the like, or an autopilot function is provided. It is also possible to use a fuselage that can fly only by manual maneuvering.
  • the robot arm RA of the present embodiment is mainly a control that is a microcontroller to which a receiver 731 that receives a steering signal from an operator (transmitter 210) and a receiver 731 are connected.
  • An IMU (Inertial Measurement Unit) 732 which is a displacement detection unit to detect is provided.
  • the servo amplifier 741 adjusts the output shafts of the servomotors 551 to 554 to the designated angular position while receiving feedback from the servomotors 551 to 554.
  • the IMU 732 is a general inertial measurement device, and mainly includes an acceleration sensor and an angular velocity sensor.
  • the control device 720 includes a CPU 721 that is a central processing unit, a memory 722 that is a storage device such as a ROM or a RAM, and a servo controller 723 that instructs the rotation angle of the servo motors 551 to 554 to the servo amplifier 741.
  • a CPU 721 that is a central processing unit
  • a memory 722 that is a storage device such as a ROM or a RAM
  • a servo controller 723 that instructs the rotation angle of the servo motors 551 to 554 to the servo amplifier 741.
  • An arm control program ACP Registered in the memory 722 is an arm control program ACP which is an arm control means for controlling the driving of the servomotors 551 to 554.
  • the arm control program ACP changes the posture of the arm unit 500 and opens / closes the hand 600 according to an instruction from the operator.
  • the arm control program ACP automatically absorbs the position shift by the joints J 1 to J 4 and shifts the position shift. Is suppressed to the wrist 540a as much as possible.
  • the number of joints of the arm unit 500 of the present embodiment is small, and the types and degree of misalignment that can be absorbed are limited.
  • FIG. It is possible to absorb a wide variety of misalignment.
  • the misalignment dealt with by the arm control program ACP is a change or inclination of the “unintended” position of the arm unit 500, and therefore, for example, a change in posture of the arm unit 500 or a movement of the machine body due to an operator's operation may be ignored. it can.
  • the IMU 732 of this embodiment is housed in the airframe central portion 110. Thereby, the change and inclination of the body position of the multicopter 100 can be accurately detected.
  • the arm control program ACP of the present embodiment indirectly calculates the positional deviation of the arm unit 500 from the displacement amount of the machine body.
  • FIG. 6 is a block diagram showing a modification of the functional configuration of the robot arm RA.
  • the robot arm RA of the present embodiment includes a unique receiver 731 and IMU 732, but instead of these, the receiver 231 of the flight controller FC, the three-axis acceleration sensor of the flight control sensor group 232, and the three-axis angular velocity. It is also possible to use a sensor for the robot arm RA.
  • FIG. 7 is a block diagram showing another modification of the functional configuration of the robot arm RA.
  • the hand 600 according to the present modification includes a camera 650 that is an imaging unit that captures the state of the workpiece that is the work target of the hand 600, and a distance measuring sensor 660 that is a distance measuring unit that measures the distance between the hand 600 and the workpiece. Is installed.
  • the distance measuring sensor 660 is a general distance sensor using non-contact distance measuring means such as an ultrasonic wave, a laser, or an infrared ray.
  • the operator can display the image captured by the camera 650 on the monitor 211 at hand, and can perform work while visually checking the state of the workpiece. Further, even if it is difficult to understand the actual distance between the hand 600 and the workpiece from the image of the camera 650, the distance between the hand 600 and the workpiece can be grasped numerically using the distance measuring sensor 660. Thereby, it is possible to further improve the quality of work using the multicopter 100. Note that only one of the camera 650 and the distance measuring sensor 660 may be mounted on the hand 600.
  • FIG. 8 is a block diagram illustrating a functional configuration of the multicopter 101 according to the second embodiment.
  • components having the same or similar functions as those of the previous embodiment are denoted by the same reference numerals as those of the previous embodiment, and detailed description thereof is omitted.
  • the robot arm RA of the multicopter 101 includes a plurality of distance measuring sensors 733 that are distance measuring means, and the measurement values of these distance measuring sensors 733. It has an obstacle avoidance program BAP which is an obstacle avoidance means to be monitored, and an arm posture information area APA accessible from the arm control program ACP and the obstacle avoidance program BAP.
  • the plurality of distance measuring sensors 733 always measure the distance from the body central part 110 to the object around the arm part 500.
  • the distance measuring sensor 733 is a general distance sensor using non-contact distance measuring means such as an ultrasonic wave, a laser, or an infrared ray.
  • the obstacle avoidance program BAP adjusts the posture of the arm unit 500 so as to avoid the obstacle detected by the distance measuring sensor 733. Note that the obstacle avoidance program BAP of this embodiment does not directly control the arm unit 500 but controls the arm unit 500 by giving an instruction to the arm control program ACP.
  • the arm posture information area APA is storage means in which information that can identify the current posture of the arm unit 500 is stored. The information in the arm posture information area APA is always updated to the latest information by the arm control program ACP.
  • FIG. 9 is a schematic diagram showing the obstacle avoidance operation of the arm unit 500.
  • a range S indicated by an alternate long and short dash line in FIG. 9 indicates a movable range of the arm unit 500 and the hand 600 (hereinafter referred to as “arm unit 500 etc.”).
  • arm unit 500 etc. a movable range of the arm unit 500 and the hand 600
  • FIG. 9 for convenience of explanation, only one of the two arm portions 500 is displayed.
  • the obstacle avoidance program BAP monitors the measurement values of the distance measuring sensors 733 (FIG. 9A), and when the obstacle B is detected within the movable range S of the arm 500 or the like, the arm 500 or the like
  • the posture of the arm unit 500 is adjusted so as not to contact the obstacle B (FIGS. 9B and 9C).
  • the obstacle B of FIG.9 (c) is the ground.
  • the multicopter 101 includes the distance measuring sensor 733 and the obstacle avoidance program BAP, it is possible to prevent a collision between the arm unit 500 and the obstacle B without depending on the operator's operation skill. It is said that.
  • a plurality of distance measuring sensors 733 are arranged so as to cover almost the entire movable range S of the arm unit 500 and the like.
  • the number and measuring ranges of the distance measuring sensors 733 are the same as those of the multicopter 101. It is not limited to the form. For example, a configuration may be adopted in which only the distance measuring sensor 733 directed vertically downward from the airframe center part 110 is provided, and only the contact between the arm part 500 and the like and the ground is avoided.
  • the distance measuring sensor 733 may be arranged so as to measure only the side (traveling direction side) range. Furthermore, it is good also as a structure which measures a predetermined angle range by rotating the 1 or several ranging sensor 733.
  • FIG. 10 is a schematic diagram for explaining the obstacle erroneous detection preventing function of the multicopter 101.
  • a range D indicated by a one-dot chain line in FIG. 10 indicates a measurement range of one distance measuring sensor 733 among the plurality of distance measuring sensors 733.
  • FIG. 10 for convenience of explanation, only one of the two arm portions 500 is displayed.
  • the distance measuring sensor 733 of the present embodiment measures the range including the movable range S of the arm unit 500 and the like from the machine body central part 110 of the multicopter 101 (FIG. 10A). Depending on the posture, a part of the arm unit 500 or the like may enter the measurement range (FIG. 10B). At this time, when the obstacle avoidance program BAP erroneously determines the arm unit 500 or the like as the obstacle B, the arm unit 500 or the like may retreat in a direction to avoid itself, and the arm unit 500 or the like may be out of control.
  • the obstacle avoidance program BAP of the multicopter 101 is set to always grasp the current position of the arm unit 500 based on the information in the arm posture information area APA and ignore the object detected at that position. Yes.
  • the obstacle erroneous detection preventing function is not limited to the form of the multicopter 101.
  • an object that does not include the arm posture information area APA and gradually approaches from the distance within the measurement range of the distance measuring sensor 733 is referred to as an obstacle B. It may be configured that an object that has been determined and appears suddenly within the measurement range of the distance measuring sensor 733 is determined to be the arm unit 500 or the like.
  • the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the present invention.
  • the number of arm parts 500 and arm parts 500 ′ constituting the robot arm RA is not limited to two, but may be one or three or more.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
PCT/JP2017/000725 2016-09-02 2017-01-12 ロボットアームおよびこれを備える無人航空機 WO2018042693A1 (ja)

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CN109592059A (zh) * 2018-10-24 2019-04-09 武汉利能机电科技有限公司 模块化多功能无人机采集装置
WO2020116401A1 (ja) * 2018-12-05 2020-06-11 株式会社ニックス 把持機構及び運搬物搬送装置
CN111579953A (zh) * 2020-06-19 2020-08-25 天津工业大学 一种电力检修无人机用零值检测装置
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