Research On Visual System For Tool Head Changing Of Multifunctional Demolition Robot

In the fields of decommissioning of nuclear facilities,nuclear accident emergency rescue,disaster relief,mine engineering and building demolition,Multifunctional Demolition Robot plays an important role.In order to realize the multi-functional operation in the nuclear environment,the robot needs to go back and forth between the high-risk environment and the safe area to changing the tool head.This method is cumbersome,consumes a lot of time and resources,and reduces the efficiency of the robot.In this paper,aiming at the problem of rapid tool head change of the Demolition Robot in the nuclear environment,a multi-functional visualization system for tool head change of the demolition robot is proposed to realize the remote visualization operation and rapid tool head change of the Multi-functional Demolition Robot.The main research contents are as follows:(1)The kinematics modeling and analysis of the Multifunctional Demolition Robot.Introduce the basic structure and characteristics of the Multifunctional Demolition Robot,use the modified D-H parameter method to analyze the kinematics of the robot;solve the conversion relationship between the joint angle of the manipulator and the length of the hydraulic cylinder;use the "Monte Carlo method" to solve the robot's workspace.(2)The 3D visualization of the Multifunctional Demolition Robot.Compared with the robot simulation platform,the Robot Operating System(ROS)is selected as the experimental platform for this study;Multifunctional Demolition Robot 3D model is constructed,a URDF file describing the robot model is generated,and the robot model data is imported into a 3D visualization tool(Rviz)to achieve multiple Three-dimensional visualization of Multifunctional Demolition Robot.(3)The tool head pose detection based on visual inspection.The method based on vision detection combined with visual label is used to realize the pose detection of tool head in space,and the pose of tool head is realized in real time in the visual interface;introduces the imaging principle of the camera,the transformation relationship between various coordinate systems,and derives the internal parameters of the camera calibration,external parameters and distortion parameters Solving process;camera calibration based on "Zhang's calibration method";Adopt the visual reference system(Apriltag)tag as the detection target of the tool head positioning,analyze the identification and detection principle of the tag;verify the detection accuracy of the Apriltag tag,use the "Tag?bundle" tag binding method to further improve the inspection accuracy of the tool head;the robot 3D visualization,visual inspection and label positioning functions are integrated to complete the Multifunctional Demolition Robot tool head changing visualization system.(4)The visual experiment of Multifunctional Demolition Robot tool head replacement.Design a visualization experiment plan for the changing of the tool head,and use hardware equipment to build an experimental platform to complete the real-time visualization.Design tool head visualization reinstallation comparison experiment to verify the reliability and practicability of the Multifunctional Demolition Robot tool head reinstallation visualization system.