Flexible mechanical arm motion obstacle avoidance method based on complex space obstacle positioning

Abstract

The invention discloses a flexible mechanical arm motion obstacle avoidance method based on complex space obstacle positioning, and relates to the technical field of flexible mechanical arm obstacle avoidance, and the method comprises the following steps: collecting target space image feature information in advance, and enabling the target space image feature information to serve as the input of an RCF deep network; enabling the RCF deep network to carry out edge detection on all objects in the space image to obtain position information of an obstacle in the space; carrying out depth measurement on the acquired obstacle area by single-line laser; matching and fusing the plane position information of the original obstacle with the obtained depth map, and constructing a target three-dimensional point cloud model; and marking and taking the obstacle as a mechanical arm to move to avoid the obstacle. Path planning guidance is provided in long-time and high-precision work in a non-structural complex space, and the invention is suitable for target spaces such as satellite assembly, has complex and non-structural characteristics, meets an automatic assembly task with high task precision,and is high in guidance efficiency, accurate in path planning and wide in application range.

Description

technical field [0001] The invention relates to the technical field of obstacle avoidance of flexible manipulators, in particular to an obstacle avoidance method for flexible manipulators based on the positioning of obstacles in complex spaces. Background technique [0002] The installation of individual equipment in a small satellite is an important part of its final assembly process. Due to the complex internal structure of small satellites, the narrow wiring space, and the large number of parts, the main equipment generally weighs more than ten kilograms or more. At present, its assembly method is mainly manual work. Manual assembly requires the assembler to maintain the relative positioning accuracy of the equipment and the satellite body while lifting heavy objects, which brings great difficulties to the operation of the assembler and affects the assembly efficiency of the satellite assembly. In severe cases, it may could damage the satellite or cause injury to the ope...

AI Technical Summary

Problems solved by technology

However, due to factors such as the camera angle of view and the occlusion of the robotic arm, the positioning accuracy of obstacles is low and the error is large, which greatly increases th

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