多功能破拆机器人工具头换装可视化研究

针对多功能破拆机器人危险工况作业与远程工具头换装问题,提出一种基于机器人操作系统的可视化换装方法。该方法可实现传感器数据采集、工具头位姿检测、机器人运动状态三维可视化、数据处理与存储等功能。首先分析可视化平台的组成及基本原理,建立机器人运动学模型简述运动学理论、液压缸与关节角的换算关系,给出机器人运动状态的可视化；然后分析工具头位姿获取及可视化,以Apriltags作为视觉基准系统,利用视觉检测实现工具头定位完成工具头的可视化；最后搭建实验平台测试可视化平台的实用性和稳定性。结果表明可视化平台能够有效地完成危险工况作业状态的实时监测与机器人远程工具头换装任务。

Visual Research on Tool Head Changing of Multi-functional Robot

In order to solve the problem of multi-functional demolition robots in dangerous working conditions and remote tool head replacement,a visual replacement method based on Robot Operating System (ROS) is proposed.This method can realize the functions of sensor data collection,tool head pose detection,three-dimensional visualization of robot movement status,data processing and storage.First analyze the composition and basic principles of the visualization platform,establish a robot kinematics model,briefly describe the kinematics theory,the conversion relationship between hydraulic cylinders and joint angles,and give the visualization of the robot''s motion state;then analyze the tool head pose acquisition and visualization,using Apriltags as a visual benchmark system,visual inspection is used to realize the positioning of the tool head to complete the visualization of the tool head;finally,an experimental platform is built to test the practicability and stability of the visualization platform.The results show that the visualization platform can effectively complete the real-time monitoring of dangerous working conditions and the task of remote robot tool head replacement.