Mechanical arm active grabbing device and method based on multi-model fusion

Abstract

The invention provides a mechanical arm active grabbing device and method based on multi-model fusion. The mechanical arm active grabbing device based on multi-model fusion comprises a base (1), a mechanical arm (2), a laser radar (3), a binocular vision system (4) and a mechanical arm (5), wherein the laser radar (3) and one end of the mechanical arm (2) are respectively fixedly mounted on the base (1), and the binocular vision system (4) and the mechanical arm (5) are respectively fixedly mounted at the other end of the mechanical arm. The mechanical arm active grabbing method based on multi-model fusion comprises the following steps: step 1, sensing an object to be grabbed to obtain sensing information; step 2, positioning the object to be grabbed according to the sensing information toobtain positioning information; and step 3: grabbing the object to be grabbed according to the positioning information. The mechanical arm active grabbing device and method based on multi-model fusion fully consider the complex environment of space operation, effectively improve the capability of moving object grabbing, and have a wide application prospect.

Description

technical field [0001] The present invention relates to the technical field of positioning and grasping of space robots, in particular to an active grasping device and method for manipulators based on multimodal fusion, especially a microgravity environment that integrates CMOS camera binocular vision, laser radar and tactile perception Robot localization and active grasping technology. Background technique [0002] At present, the aerospace field of major countries in the world is developing rapidly, and more and more life science experiments and space operations are being carried out to explore space. Traditional space activities rely on equipment preset instructions, direct operation by space station staff or remote operation by ground staff, lack of automatic real-time interaction and learning process with the environment, making it difficult to achieve complex operations such as grasping moving objects in a microgravity environment Task. The existing research on autom...

AI Technical Summary

Problems solved by technology

Traditional space activities rely on equipment preset instructions, direct operation by space station staff or remote operation by ground staff, lack of automatic real-time interaction and learning process with the environment, making it difficult to achieve complex operations such as grasping moving objects in a microgravity environment Task

The existing research on automatic grasping of moving objects in a microgravity environment mainly focuses on tactile perception combined with passive compliance mechanisms to overcome the impact of moving objects in the process of grasping to improve the success rate and reliability of grasping. There are few studies on the fusion of tactile, visual and other multi-modal information to realize the active grasping operation of manipulators. The correlation and complementarity between modal sensor information is of great significance to improve the grasping efficiency and robustness

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