Remote operation planar redundant manipulator automated guided intelligent element, system and method

Abstract

The invention relates to an automatic obstacle avoiding intelligent unit, system and method of a tele-operation plane redundancy mechanical arm of the field of mechanical control technology; wherein, the system comprises a data storage module, a microprocessor, a serial communication interface, a field bus interface and an intelligent unit; the intelligent unit which is arranged for each shaft motor collects the information of an infrared distance sensor arranged at an articulated arm; the states of the articulated arm are divided into three states of being normal, obstacle avoiding and stopping according to measured values of the sensing information; when the articulated arm is in the normal state, the intelligent unit adopts speed instructions planned by the microprocessor to control a driving unit ; when the articulated arm is in the obstacle avoiding state, the intelligent unit adopts the speed instructions which increase the distance between the articulated arm and obstacles to drive a control unit; when the articulated arm is in the stopping state, the intelligent unit stops the movement of an articulated motor and sends the states of the articulated arm to a movement coordination module. The intelligent unit, system and device can simplify the system wiring and fast sense the obstacles and realize the obstacle avoidance when controlling the end of the mechanical arm to get close to targets through the tele-operation.

Description

technical field [0001] The present invention relates to a control unit, system and method in the technical field of mechanical control, in particular to an intelligent unit, system and method for autonomous obstacle avoidance of a remote-operated planar redundant mechanical arm. Background technique [0002] In the nuclear industry, anti-terrorist detonation, rescue, high-voltage equipment cleaning, maintenance and other dangerous and harsh environments, teleoperation manipulators are widely used in special operations such as inspection, maintenance, handling, grasping, and assembly. The current degree of freedom of the manipulator is mostly Less than or equal to 6, suitable for barrier-free environment; and for some special multi-obstacle restricted environment operations, such as grabbing explosives from the bottom of the vehicle in detonation operations, and trapped people entering the ground from windows in rescue operations, high pressure For operations such as live cle...

AI Technical Summary

Problems solved by technology

[0005] The above-mentioned technology has improved in the aspects of manipulator attitude detection and collision detection, but still has the following disadvantages: (1) The collision needs to be calculated by the controller to obtain the pose information between the manipulator and the environment, which affects the computing power of the computer and multiple (2) The obstacle avoidance strategy needs to be calculated after obtaining all the external sensor information through the robot arm controller, and the information transmission process is complicated; (3) The obstacle avoidance algorithm is simple and cannot be applied to redundant Redundant robotic arm

Patent 200710022775.9 has no direct obstacle detection device, and needs to calculate the distance between the excavator and the obstacle in real time, which is only suitable for simple structured obstacle distribution; patent CN1304178C needs to collect information from multiple obstacle perception sensors and integrate it into the controller for calculation. The composition is complex, which is not suitable for the requirements of fast and efficient operation of special robots; patent CN1861330A also adopts centralized processing of sensor information, and is only for mobile robots

[0006] At present, special operation robots are mainly based on teleoperation, but how to realize efficient and autonomous obstacle avoidance of redundant robotic arms under the framework of teleoperation has not been reported.

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