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Autonomous path planning method of live-line working robot based on point cloud

A technology of path planning and live work, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as obstacle collisions, achieve the effects of reducing the amount of computation, solving poor real-time performance, and improving utilization

Active Publication Date: 2019-12-20
NANJING UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an autonomous path planning method for a live working robot to solve the safety problems caused by the collision of the robotic arm with obstacles in the environment when working in a high-altitude unstructured environment

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  • Autonomous path planning method of live-line working robot based on point cloud
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  • Autonomous path planning method of live-line working robot based on point cloud

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Embodiment Construction

[0018] combine figure 1 , the present invention is based on a point cloud live working robot autonomous path planning method, comprising the following steps:

[0019] Step 1. Install and fix a depth camera at the end of the dual mechanical arms of the live working robot;

[0020] Step 2. Carry out hand-eye calibration and dual-arm base coordinate system calibration to share the field of view of the two depth cameras;

[0021] Step 3. Control the base joints of the dual robotic arms to rotate 360°, and the depth camera collects a frame of image every time θ° is rotated to obtain the environmental information in the current field of view;

[0022] Step 4. Splicing the images collected in step 3 to obtain the complete environmental information of the working space of the manipulator, that is, the position coordinate information of obstacles in the work space in the world coordinate system; where the world coordinate system is the position coordinate information of a certain mani...

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Abstract

The invention discloses an autonomous path planning method of a live-line working robot based on a point cloud. The method comprises the following steps: installing depth cameras at the ends of doublerobot arms; performing hand-eye calibration and base coordinate system calibration of the double robot arms to realize view sharing of the two cameras; controlling base joints of the double robot arms to rotate 360 DEG to acquire multiple frames of images; splicing the acquired images to obtain the complete environmental information of the workspace of the double robot arms; and planning the optimal non-collision movement path of the robot arms in real time by using an improved path planning algorithm, and adding the path to a database. The depth cameras are installed at the ends of the robotarms by adopting an eye-to-hand installation method, and combined with the kinematic model of the robot arms, a three-dimensional point cloud image of the entire operating environment is built, so that the system has the ability to sense environmental obstacles; and the improved path planning algorithm ensures that the robot arms do not collide with obstacles, and also the optimal movement path of the robot arms can be planned in real time.

Description

technical field [0001] The invention belongs to the field of autonomous operation of a live working robot, in particular to a point cloud-based autonomous path planning method for a live working robot. Background technique [0002] Compared with the factory environment where traditional robots are used, distribution line maintenance robots need to work in an unstructured environment. To realize that the robot can independently plan a collision-free operation path, the robot system must first have the ability to perceive the surrounding environment. However, the working environment of live work is mostly unstructured environment, and the working environment in different places is different, so the method of manually measuring and constructing a fixed working scene model is not feasible, so it is particularly important to use the depth camera to reconstruct the working scene in 3D. The depth camera scans the real three-dimensional scene or object, and constructs the robot's wo...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/02
CPCB25J9/1666B25J9/1697B25J19/023
Inventor 郭毓肖潇吴巍杨光张冕蔡梁
Owner NANJING UNIV OF SCI & TECH
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