Search

CN-121988770-A - Semi-closed space's hole punching car

CN121988770ACN 121988770 ACN121988770 ACN 121988770ACN-121988770-A

Abstract

The invention discloses a punching vehicle for a semi-enclosed space, which comprises a six-axis mechanical arm group, a drill bit group, a vehicle body, a monocular camera, a laser radar, a depth camera, four servo motors, four Mecanum wheels, a controller and a motion sensor. According to the invention, the six-axis mechanical arm group is controlled by the controller to drive the drill bit group to move, so that flexible movement with six degrees of freedom is realized, meanwhile, the omnidirectional movement function of the Mecanum wheel is matched, the distance and shape of all barriers in the advancing direction of the perforating vehicle, which are acquired in real time based on the laser radar, are combined, the depth map acquired in real time by the depth camera, the movement information of the perforating vehicle acquired in real time by the motion sensor and the current optimal operation path generated by the current environment three-dimensional model constructed by the three-dimensional model algorithm are combined, multidirectional perforating operation of a semi-enclosed space can be realized, precise control of perforating positions is realized, automatic perforating can be ensured, and meanwhile, the construction efficiency and the construction precision are improved.

Inventors

  • ZHAI JINGANG
  • ZHANG SIQI
  • Zheng kaixuan
  • WANG JIACHEN
  • Xue Xingkai
  • SUN YAN

Assignees

  • 鲁东大学

Dates

Publication Date
20260508
Application Date
20260309

Claims (10)

  1. 1. The perforating vehicle for the semi-enclosed space is characterized by comprising a six-axis mechanical arm group, a drill bit group, a vehicle body, a monocular camera, a laser radar, a depth camera, four servo motors, four Mecanum wheels, a controller and a motion sensor; The six-axis mechanical arm group is arranged above the vehicle body, the drill bit group is arranged at the end part of the tail part of the six-axis mechanical arm group, the monocular camera is arranged on the side surface of the tail part, the laser radar and the depth camera are arranged at the front end of the vehicle body, the motion sensor, the four servo motors and the controller are arranged in the vehicle body, and the four servo motors are respectively connected with the corresponding Mecanum wheels; The controller builds a current environment three-dimensional model based on the distance and the shape of all barriers in the advancing direction of the perforating vehicle, the depth map, the moving information of the perforating vehicle and a three-dimensional model algorithm, wherein the distances and the shapes are acquired in real time by the laser radar, the depth map is acquired in real time by the depth camera, the moving information of the perforating vehicle and the three-dimensional model algorithm are acquired in real time by the motion sensor, a current optimal operation path is generated based on the current environment three-dimensional model and the path planning algorithm, four servo motors are controlled to drive corresponding Mecanum wheels to move based on the current optimal operation path, when a working surface is detected based on the depth map and the distance of the working surface, acquired in real time by the laser radar, are detected to move to a working area, four servo motors are controlled to stop running, the monocular camera is controlled to shoot an image of the working surface in real time, a first three-dimensional coordinate of an infrared point emitted by the monocular camera and a three-dimensional coordinate of a perforating point are determined according to the image of the working surface and the distance of the working surface, a first rotating instruction is generated based on the first three-dimensional coordinate and the three-dimensional coordinate of the perforating point and is sent to the six-axis mechanical arm set; the six-axis mechanical arm group drives the drill bit group to move according to the first rotating instruction; The controller judges that the drill bit of the drill bit group moves to the punching point based on the image of the working face, then sends a starting instruction to the drill bit group to enable the drill bit to rotate, and meanwhile controls the four servo motors to drive the corresponding Mecanum wheels to move so as to drive the drill bit to feed.
  2. 2. The cart for perforating semi-enclosed space as recited in claim 1 wherein the controller comprises a microcomputer, a master control chip and a motion control chip; The microcomputer builds a current environment three-dimensional model based on the distance and the shape of all barriers in the advancing direction of the perforating vehicle, the depth map, the moving information of the perforating vehicle and a three-dimensional model algorithm, wherein the distances and the shapes are acquired in real time by the laser radar, the depth map is acquired in real time by the depth camera, the moving information of the perforating vehicle is acquired in real time by the motion sensor, and a current optimal operation path is generated based on the current environment three-dimensional model and a path planning algorithm and is sent to the main control chip; The main control chip generates a moving instruction based on the current optimal operation path and sends the moving instruction to the motion control chip; The motion control chip controls the four servo motors to drive the corresponding Mecanum wheels to move based on the movement instruction; The microcomputer detects a working surface based on the depth map and detects that the punching vehicle moves to a working area based on the distance of the working surface acquired by the laser radar in real time in the moving process, and sends a stop instruction to the motion control chip and controls the monocular camera to shoot an image of the working surface in real time; the motion control chip controls the four servo motors to stop running based on the stop instruction; The microcomputer determines a first three-dimensional coordinate of an infrared point and a three-dimensional coordinate of a punching point emitted by the monocular camera according to the image of the working face and the distance of the working face, generates a first rotating instruction based on the first three-dimensional coordinate and the three-dimensional coordinate of the punching point, sends the first rotating instruction to the six-axis mechanical arm group, and sends a first control instruction to the main control chip and a second control instruction to the motion control chip after judging that a drill bit of the drill bit group moves to the punching point based on the image of the working face; the main control chip receives the first control instruction and sends a starting instruction to the drill bit group so as to enable the drill bit to rotate; And the motion control chip controls the four servo motors to drive the corresponding Mecanum wheels to move based on the second control instruction so as to drive the drill bit to feed.
  3. 3. The semi-enclosed space punching vehicle of claim 1, wherein the six-axis mechanical arm set comprises a steering rudder set including a base swing steering engine, a shoulder pitch steering engine, an elbow flexion-extension steering engine, a forearm swing steering engine, a wrist pitch steering engine, and a distal swing steering engine, and an articulated arm set including a base, a shoulder pitch arm, an elbow Qu Shenbei, a forearm swing arm, a wrist pitch arm, and a distal swing arm; the fixed end of the base rotary steering engine is fixedly arranged above the vehicle body, the fixed end of the base rotary steering engine is rotatably connected with the base, and the rotating end of the base rotary steering engine is fixedly arranged in the base; The base is rotatably connected with the shoulder pitching arm, the fixed end of the shoulder pitching steering engine is fixedly arranged on the base, and the rotating end of the shoulder pitching steering engine is fixedly arranged in the shoulder pitching arm; the shoulder pitching arm is rotatably connected with the elbow bending and stretching arm, the fixed end of the elbow bending and stretching steering engine is fixedly arranged in the shoulder pitching arm, and the rotating end of the elbow bending and stretching steering engine is fixedly arranged in the elbow Qu Shenbei; the elbow part Qu Shenbei is rotatably connected with the forearm swing arm, the fixed end of the forearm swing steering engine is fixedly arranged in the elbow part Qu Shenbei, and the rotating end of the forearm swing steering engine is fixedly arranged in the forearm swing arm; the forearm swing arm is rotatably connected with the wrist pitching arm, the fixed end of the wrist pitching steering engine is fixedly arranged in the forearm swing arm, and the rotating end of the wrist pitching steering engine is fixedly arranged in the wrist pitching arm; the wrist pitching arm is rotatably connected with the tail end revolving arm, the fixed end of the tail end revolving steering engine is fixedly arranged in the wrist pitching arm, and the rotating end of the tail end revolving steering engine is fixedly arranged in the tail end revolving arm; The end part of the tail end rotary arm is provided with the drill bit group; the controller is specifically configured to generate a rotation angle instruction of each steering engine based on the first three-dimensional coordinates, the three-dimensional coordinates of the punching points and a Pieper solution, and send the rotation angle instruction to the corresponding steering engine; And each steering engine rotates according to the received rotation angle instruction to drive the drill bit group to move.
  4. 4. The semi-enclosed space punching cart of claim 1, further comprising a pressure sensor; The pressure sensor is arranged above the monocular camera; After the drill bit moves to the punching point, the controller controls the pressure sensor to start, receives the contact pressure between the drill bit and the working surface, and adjusts the moving speeds of the four Mecanum wheels according to the contact pressure so as to adjust the feeding speed of the drill bit.
  5. 5. The semi-enclosed space punching cart of claim 1 wherein said drill bit set further comprises a motor, a four-jaw chuck, four jaws, four adjusting screws, a drill bit extension rod, a drill bit connecting rod, two rolling bearings, a clamping lock, a rotary steering engine and an adjusting nut, said motor comprising a motor end cap, a motor carrier and an impeller, said impeller and said rotary steering engine both being connected to said controller; The four-jaw chuck is arranged at the end part of the tail part of the six-axis mechanical arm group, a chuck through hole is formed in the center of the four-jaw chuck, four jaw guide grooves are uniformly distributed on one surface of the four-jaw chuck, which is far away from the six-axis mechanical arm group, with the chuck through hole as the center, protrusions are arranged on the parts, which are close to the chuck through hole, of the two side walls of the jaw guide grooves, threads are arranged on the parts, which are far away from the chuck through hole, of the jaw grooves at the two ends of the jaw grooves, the protrusions are connected with the protrusions of the two side walls, the adjusting screw is in threaded connection with the parts, which are far away from the chuck through hole, of the two side walls of the jaw grooves, and the adjusting screw is in threaded connection with the lower surface of the jaw; The four-jaw chuck is fixedly connected with the motor end cover, the motor end cover is fixedly connected with the motor carrying shell, the impeller is arranged in the motor carrying shell, one end of the drill bit extension rod extends out of the motor carrying shell, the other end of the drill bit extension rod is inserted into the chuck through hole, the drill bit connecting rod is arranged in the drill bit extension rod through two rolling bearings, the impeller is fixedly connected with the drill bit connecting rod, the drill bit connecting rod can be fixedly connected with the drill bit, and the adjusting screw is rotated in a preset direction to drive the clamping jaw to move towards the chuck through hole so as to clamp the drill bit extension rod; One end of the clamping lock head is sleeved on the periphery of the part, extending out of the motor carrying shell, of the drill bit extension rod, the other end of the clamping lock head is in threaded connection with the adjusting nut, the rotary steering engine is sleeved on the periphery of the clamping lock head, the fixed end of the rotary steering engine is fixedly arranged on the motor carrying shell, and the rotating end of the rotary steering engine is fixedly arranged on the adjusting nut so as to drive the adjusting nut to rotate so as to loosen or clamp a drill bit in the clamping lock head; The controller is particularly used for sending a starting instruction to the impeller, and the impeller drives the drill bit to rotate through the drill bit connecting rod.
  6. 6. The semi-enclosed space punching cart of claim 5, further comprising a three-axis piezoelectric chip force sensor, a bit pack, and a bit removal device, said bit removal device being connected to said controller; The triaxial piezoelectric type chip force sensor is fixedly arranged on the clamping lock head, the drill bit removing device is arranged at the joint of the drill bit connecting rod and the drill bit, the drill bit package is arranged at the rear end of the vehicle body, a plurality of storage holes are formed in the drill bit package along the vertical direction, and drill bits with different types and different specifications are arranged in different storage holes; The controller receives real-time chip force sent by the triaxial piezoelectric chip force sensor, when the real-time chip force exceeds preset chip force, a stopping instruction is sent to the impeller to stop the rotation of the drill bit, a second three-dimensional coordinate of the infrared point is determined based on the distance acquired by the laser radar in real time and the image shot by the monocular camera in real time, and a second rotation instruction is generated based on the second three-dimensional coordinate and the three-dimensional coordinate of a first preset point above the drill bit knapsack and sent to the six-axis mechanical arm group; the six-axis mechanical arm group drives the drill bit group to move according to the second rotating instruction; The controller judges that the drill bit group moves to the first preset point based on the image shot by the monocular camera in real time, controls the rotary steering engine to drive the adjusting nut to rotate so as to loosen the drill bit in the clamping lock head, controls the thin rod in the drill bit removing device to move from an initial position to a removing position so as to remove the drill bit, determines a third three-dimensional coordinate of the infrared point based on the distance acquired by the laser radar in real time and the image shot by the monocular camera in real time, generates a third rotation instruction based on the third three-dimensional coordinate and a three-dimensional coordinate of a second preset point above a stored drill hole corresponding to the type of the drill bit, and sends the third rotation instruction to the six-axis mechanical arm group, and controls the thin rod of the drill bit removing device to return to the initial position; The six-axis mechanical arm group drives the drill bit group to move according to the third rotating instruction; And the controller judges that the drill bit group moves to the second preset point based on the image shot by the monocular camera in real time, and then controls the rotary steering engine to drive the adjusting nut to rotate so as to clamp a new drill bit in the clamping lock head.
  7. 7. The semi-enclosed space punching cart of claim 1, wherein, The controller is specifically configured to calculate, when the infrared point and the preset mark are identified according to the image of the working surface, a distance between the drill bit and the working surface based on the distance of the working surface, and calculate, based on the image of the working surface and the distance between the drill bit and the working surface, the first three-dimensional coordinate and the three-dimensional coordinate of the punching point corresponding to the preset mark.
  8. 8. The semi-enclosed space punching cart of claim 7, And if the controller does not recognize the preset mark, the controller sends the image of the working surface to a cloud platform, receives the target three-dimensional coordinate sent by the cloud platform, and takes the target three-dimensional coordinate as the three-dimensional coordinate of the punching point.
  9. 9. The semi-enclosed space punching cart of claim 1, wherein, The controller is also used for judging whether the infrared point is coincident with the punching point or not, and if so, sending a starting instruction to the drill bit group so as to enable the drill bit to rotate.
  10. 10. The semi-enclosed space punching cart of claim 1, wherein, The controller is specifically configured to send the depth map to a cloud platform, receive information of the detected working surface sent by the cloud platform, determine that the working surface is detected based on the depth map, determine whether a distance of the working surface acquired by the laser radar in real time reaches a preset distance, and if so, determine that the punching vehicle moves to a working area.

Description

Semi-closed space's hole punching car Technical Field The invention relates to the technical field of industrial automation, in particular to a punching vehicle for a semi-enclosed space. Background In the field of industrial automation, the punching operation of a narrow and high-risk semi-closed space faces a plurality of practical problems, wherein the semi-closed space is a closed space with air flow. At present, manual punching and bolt plugging operations are carried out by adopting a mode of manually matching with a climbing vehicle in construction. Under the mode, workers are not only exposed to higher construction risks, but also are difficult to effectively guarantee the safety, the construction efficiency is relatively low, and the construction precision is also not reliably guaranteed. Disclosure of Invention The invention provides a punching vehicle for a semi-closed space, which realizes accurate control of punching positions, can automatically punch holes, ensures safety and improves construction efficiency and construction precision. The specific technical scheme is as follows. The invention provides a punching vehicle for a semi-enclosed space, which comprises a six-axis mechanical arm group, a drill bit group, a vehicle body, a monocular camera, a laser radar, a depth camera, four servo motors, four Mecanum wheels, a controller and a motion sensor, wherein the six-axis mechanical arm group is arranged on the vehicle body; The six-axis mechanical arm group is arranged above the vehicle body, the drill bit group is arranged at the end part of the tail part of the six-axis mechanical arm group, the monocular camera is arranged on the side surface of the tail part, the laser radar and the depth camera are arranged at the front end of the vehicle body, the motion sensor, the four servo motors and the controller are arranged in the vehicle body, and the four servo motors are respectively connected with the corresponding Mecanum wheels; The controller builds a current environment three-dimensional model based on the distance and the shape of all barriers in the advancing direction of the perforating vehicle, the depth map, the moving information of the perforating vehicle and a three-dimensional model algorithm, wherein the distances and the shapes are acquired in real time by the laser radar, the depth map is acquired in real time by the depth camera, the moving information of the perforating vehicle and the three-dimensional model algorithm are acquired in real time by the motion sensor, a current optimal operation path is generated based on the current environment three-dimensional model and the path planning algorithm, four servo motors are controlled to drive corresponding Mecanum wheels to move based on the current optimal operation path, when a working surface is detected based on the depth map and the distance of the working surface, acquired in real time by the laser radar, are detected to move to a working area, four servo motors are controlled to stop running, the monocular camera is controlled to shoot an image of the working surface in real time, a first three-dimensional coordinate of an infrared point emitted by the monocular camera and a three-dimensional coordinate of a perforating point are determined according to the image of the working surface and the distance of the working surface, a first rotating instruction is generated based on the first three-dimensional coordinate and the three-dimensional coordinate of the perforating point and is sent to the six-axis mechanical arm set; the six-axis mechanical arm group drives the drill bit group to move according to the first rotating instruction; The controller judges that the drill bit of the drill bit group moves to the punching point based on the image of the working face, then sends a starting instruction to the drill bit group to enable the drill bit to rotate, and meanwhile controls the four servo motors to drive the corresponding Mecanum wheels to move so as to drive the drill bit to feed. Optionally, the controller comprises a microcomputer, a main control chip and a motion control chip; The microcomputer builds a current environment three-dimensional model based on the distance and the shape of all barriers in the advancing direction of the perforating vehicle, the depth map, the moving information of the perforating vehicle and a three-dimensional model algorithm, wherein the distances and the shapes are acquired in real time by the laser radar, the depth map is acquired in real time by the depth camera, the moving information of the perforating vehicle is acquired in real time by the motion sensor, and a current optimal operation path is generated based on the current environment three-dimensional model and a path planning algorithm and is sent to the main control chip; The main control chip generates a moving instruction based on the current optimal operation path and sends the moving instruction to the motion control