According to the flying mechanical arm maneuvering grabbing system based on vision, the grabbing system takes a rotor aircraft as a platform, and through carrying equipment such as a six-degree-of-freedom mechanical arm and a camera, operation such as air flying and hovering autonomous grabbing of a robot is achieved. The camera is in communication with the mechanical arm and a main control panel of the unmanned aerial vehicle through serial ports, recognizes space coordinates of a target object, controls movement of the unmanned aerial vehicle to achieve approaching and hovering, obtains the required adjustment and rotation angles of all steering engines of the mechanical arm through inverse kinematics analysis, adjusts the mechanical arm to conduct grabbing, and fixes a supporting frame on the mechanical arm to achieve grabbing. And rising and stable landing of the system are guaranteed through the stretching mechanical arm. The unmanned aerial vehicle mechanical arm complex system can autonomously achieve high-altitude grabbing and other operations, and the application field of unmanned aerial vehicles and mechanical arms is greatly expanded.
本发明为基于视觉的飞行机械臂机动抓取系统,该抓取系统以旋翼飞行器为平台,通过搭载六自由度机械臂,摄像头等设备,实现机器人空中飞行,悬停自主抓取等操作。摄像头通过串口与机械臂和无人机的主控制板通信,识别出目标物体的空间坐标,控制无人机的运动实现趋近并悬停,并通过逆运动学分析得出机械臂各个舵机所需调动转动的角度,调动机械臂进行抓取,并且通过在机械臂上固定支撑架,通过伸展机械臂保证系统的上升与稳定着陆。这种无人机机械臂复杂系统能够自主实现高空抓取等作业,极大地扩展了无人机与机械臂的应用领域。
Flying mechanical arm maneuvering grabbing system based on vision
基于视觉的飞行机械臂机动抓取系统
2023-03-31
Patent
Electronic Resource
Chinese
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