CN109664321A - Mechanical arm, explosive trolley and method for searching - Google Patents
Mechanical arm, explosive trolley and method for searching Download PDFInfo
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- CN109664321A CN109664321A CN201811616915.XA CN201811616915A CN109664321A CN 109664321 A CN109664321 A CN 109664321A CN 201811616915 A CN201811616915 A CN 201811616915A CN 109664321 A CN109664321 A CN 109664321A
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- Prior art keywords
- clamping limb
- mechanical arm
- clamping
- explosive
- mounting base
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- 239000002360 explosive Substances 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims description 36
- 230000000007 visual effect Effects 0.000 claims description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 11
- 238000012216 screening Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000000203 mixture Substances 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007717 exclusion Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 244000137852 Petrea volubilis Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of mechanical arm, explosive trolley and method for searching, it is related to explosive technical field, mechanical arm provided by the invention includes: mounting base, the first clamping limb, the second clamping limb and the first torsion member, first clamping limb and the second clamping limb are pivotally connected to mounting base respectively, and the first clamping limb and the second clamping limb link；First torsion member is connect with mounting base, and for driving the second clamping limb, so that the first clamping limb and the second clamping limb are swung rotating around respective pivot axially opposite direction, mechanical arm provided by the invention solves the technical problem of mechanical arm clamping stationarity difference in the prior art, explosive can steadily be clamped, the problem of avoiding clamping deflection, simplifies the composition of power source, advantageously reduces the manufacturing cost of mechanical arm.
Description
Technical field
The present invention relates to explosive technical fields, more particularly, to mechanical arm, explosive trolley and method for searching.
Background technique
Mankind's war, terroristic organization and all kinds of violent conflicts can leave a large amount of dangerous goods to surrounding enviroment, tradition
Disposing dangerous goods is in such a way that artificial exclusion and flame are ignited, and artificial exclusion is more dangerous to explosive personnel, even if wearing
Safety device is worn, is still difficult to ensure personal safety.By the popularization of artificial intelligence, artificial pick up is replaced to explode using robot
Object can solve the human safety issues of explosive personnel, but equally exist the problem of robot is influenced damage by explosive.
When clamping to explosive, to ensure that explosive is steady, the mode that two clamping limbs are mutually drawn close is generallyd use
It is clamped, it is not flat enough to the clamping of explosive since tradition machinery arm is difficult to ensure that the movement of two clamping limbs is synchronous
Surely, there are some potential safety problemss.
Summary of the invention
The purpose of the present invention is to provide a kind of mechanical arm, explosive trolley and method for searching, to solve machine in the prior art
The technical problem of tool arm clamping stationarity difference.
In a first aspect, mechanical arm provided by the invention, comprising: mounting base, the first clamping limb, the second clamping limb and first are turned round
Turn part, first clamping limb and second clamping limb are pivotally connected to the mounting base, and first clamping limb respectively
It links with second clamping limb；First torsion member is connect with the mounting base, and for driving second clamping limb,
So that first clamping limb and second clamping limb are swung rotating around respective pivot axially opposite direction.
With reference to first aspect, the present invention provides the first possible embodiments of first aspect, wherein described first
Clamping limb includes first gear portion, the first extension and the first clamping part, and first extension is connected to the first gear
Between portion and first clamping part, second clamping limb includes second gear portion, the second extension and the second clamping part, institute
It states the second extension to be connected between the second gear portion and second clamping part, the first gear portion and described second
Gear part engagement；First extension is oppositely arranged with second extension, and the middle-end of first extension and institute
The middle-end for stating the second extension is bent to the direction mutually deviated from respectively；First clamping part is opposite with second clamping part
Setting, and the middle-end of first clamping part and the middle-end of second clamping part are bent to the direction mutually deviated from respectively.
With reference to first aspect, the present invention provides second of possible embodiments of first aspect, wherein the machinery
Arm includes pedestal and height adjustment device, and the height adjustment device is connect with the pedestal, for driving the mounting base liter
Drop.
The possible embodiment of second with reference to first aspect, the third the present invention provides first aspect are possible
Embodiment, wherein push-pull device at fixed is connected on the pedestal, the movable end of the push-pull device at fixed and the mounting base are hinged,
The mounting base and the height adjustment device are hinged, the push-pull device at fixed for driving the mounting base around the mounting base and
Articulated shaft between the height adjustment device is swung.
Second aspect, explosive trolley provided by the invention are provided including car body, detector, controller and first aspect
Mechanical arm, the mechanical arm are arranged on the car body, and the detector is connect with the car body, and the court with the mechanical arm
To identical；The detector is connected with the controller, for identification object, and detects between object and the car body
Distance.
In conjunction with second aspect, the present invention provides the first possible embodiments of second aspect, wherein the detection
Device includes ultrasonic sensor and visual sensor, the ultrasonic sensor and visual sensor respectively with the controller phase
Connection, there are two the ultrasonic sensor is set, two ultrasonic sensors towards the direction of advance of the car body, and
The two sides of the car body are located at, the mechanical arm is located between two ultrasonic sensors.
The third aspect, method for searching provided by the invention, includes the following steps:
Doubtful object is identified according to color；Doubtful object is screened according to the projected area of doubtful object；
Doubtful object is screened according to the appearance profile of doubtful object；The image of doubtful object and the similarity of template image are calculated, and
The doubtful object that similarity is greater than default similarity is determined as object.
In conjunction with the third aspect, the present invention provides the first possible embodiments of the third aspect, wherein the basis
It includes: to calculate doubtful object projected area and doubtful object profile minimum circumscribed rectangle area that the appearance profile of doubtful object, which screens doubtful object,
Ratio obtain shape ratio；When shape ratio exceeds default ratio range, terminate the judgement of this frame image.
In conjunction with the third aspect, the present invention provides second of possible embodiments of the third aspect, wherein the search
Method includes the following steps: to calculate separately two ultrasonic sensors at a distance from barrier；When left side detection range is greater than the right side
When the detection range of side, controls the explosive trolley and be moved to the left；When right side detection range is greater than left side detection range, institute is controlled
Explosive trolley is stated to move right.
In conjunction with second of possible embodiment of the third aspect, the third the present invention provides the third aspect is possible
Embodiment, wherein when left side detection range is equal to right side detection range, control trolley is moved forward or back, so that left side is visited
Ranging is equal to preset value from right side detection range.
The embodiment of the present invention brings following the utility model has the advantages that being pivotally connected respectively using the first clamping limb and the second clamping limb
In mounting base, and the first clamping limb and the second clamping limb link；First torsion member is connect with mounting base, and for driving the second folder
Gripping arm, in a manner of swinging the first clamping limb and the second clamping limb rotating around respective pivot axially opposite direction, the first folder
Gripping arm ensures to move synchronously with the second clamping limb by gear engaged transmission, to realize steady clamping, it is inclined to avoid the occurrence of clamping
Oblique problem；The second clamping limb is driven by the first torsion member, realizes that the second clamping limb and the first clamping limb move synchronously, thus
The composition of power source is simplified, to advantageously reduce the manufacturing cost of mechanical arm.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in order to illustrate more clearly of the specific embodiment of the invention or in the related technology, below will be to specific
Attached drawing needed in embodiment or description of Related Art is briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram for the mechanical arm that the embodiment of the present invention one provides；
Fig. 2 is the schematic diagram of the first clamping limb of the mechanical arm that the embodiment of the present invention one provides；
Fig. 3 is the schematic diagram of the second clamping limb of the mechanical arm that the embodiment of the present invention one provides；
Fig. 4 is the schematic diagram of the car body of explosive trolley provided by Embodiment 2 of the present invention；
Fig. 5 is the schematic diagram of explosive trolley provided by Embodiment 2 of the present invention；
Fig. 6 is the flow chart one for the method for searching that the embodiment of the present invention three provides；
Fig. 7 is the flowchart 2 for the method for searching that the embodiment of the present invention three provides.
Icon: 1- mounting base；The first clamping limb of 2-；21- first gear portion；The first extension of 22-；The first clamping part of 23-；
The second clamping limb of 3-；31- second gear portion；The second extension of 32-；The second clamping part of 33-；The first torsion member of 4-；5- pedestal；6-
Height adjustment device；61- swing arm；The second torsion member of 62-；7- push-pull device at fixed；71- connecting rod；72- rocking bar；73- third torsion member；
8- car body；The chassis 81-；The first actuator of 82-；The second actuator of 83-；84- third actuator；85- fourth drive member；86-
One omni-directional wheel；The second omni-directional wheel of 87-；88- third omni-directional wheel；The 4th omni-directional wheel of 89-；9- detector；91- ultrasonic sensor；
92- visual sensor.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment one
As shown in Figure 1, mechanical arm provided in an embodiment of the present invention, comprising: mounting base 1, the clamping of the first clamping limb 2, second
Arm 3 and the first torsion member 4, the first clamping limb 2 and the second clamping limb 3 are pivotally connected to mounting base 1, and the first clamping limb 2 respectively
It links with the second clamping limb 3；First torsion member 4 is connect with mounting base 1, and for driving the second clamping limb 3, so that the first clamping
Arm 2 and the second clamping limb 3 are swung rotating around respective pivot axially opposite direction.
Specifically, the first torsion member 4 is steering engine or servomotor, and the first torsion member 4 is for driving the second clamping limb 3 pendulum
It is dynamic；First clamping limb 2 and the second clamping limb 3 are by gear engaged transmission, when the first clamping limb 2 is swung around the first pivotal axis,
The second clamping limb 3 can be driven to swing around the second pivotal axis synchronous backward.The pivotal axis of first clamping limb 2 and the second clamping limb 3
Pivoting axis parallel, when the first clamping limb 2 and the second clamping limb 3 move synchronously, the first clamping limb 2 and the second clamping limb 3 are opened
It opens or is closed, so as to clamp or discharge explosive, can steadily clamp explosive, security risk is reduced with this.
It should be noted that driving the second clamping limb 3 by the first torsion member 4, and pass through the second clamping limb 3 driving first
Torsion member 4, so that power source needed for simplifying clamping explosive, advantageously reduces the manufacturing cost of mechanical arm.
As shown in Figures 2 and 3, the first clamping limb 2 includes first gear portion 21, the first extension 22 and the first clamping part
23, the first extension 22 is connected between first gear portion 21 and the first clamping part 23, and the second clamping limb 3 includes second gear portion
31, the second extension 32 and the second clamping part 33, the second extension 32 be connected to second gear portion 31 and the second clamping part 33 it
Between, first gear portion 21 is engaged with second gear portion 31；First extension 22 is oppositely arranged with the second extension 32, and first prolongs
The middle-end of extending portion 22 and the middle-end of the second extension 32 are bent to the direction mutually deviated from respectively；First clamping part 23 and the second folder
It holds portion 33 to be oppositely arranged, and the middle-end of the first clamping part 23 and the middle-end of the second clamping part 33 are curved to the direction mutually deviated from respectively
It is bent.Wherein, the second clamping limb 3 is T-bar part, alternatively, the second clamping limb 3 and 2 structure of the first clamping limb are relative to the first clamping
The central plane in region is symmetrical.First clamping zone and the second clamping zone can collective effect, so that it is irregular to clamp shape
Explosive.Specifically, the first clamping zone, the first clamping part 23 are formed when the first extension 22 and the second extension 32 are closed
The second clamping zone is formed when being closed with the second clamping part 33, and the cross sectional shape of the first clamping zone and the second clamping zone is
Round or ellipse.Clamp explosive by the middle-end of the first clamping part 23 and the middle-end of the second clamping part 33, so as to
Explosive is placed on vertical direction to slide；It can not only be used by the middle-end of the first extension 22 and the middle-end of the second extension 32
In clamping explosive, and curved first extension 22 and the second extension 32 can extend to avoid when clamping explosive first
Portion 22 and the second extension 32 are respectively to the direction bending deformation mutually deviated from.
Further, the first clamping limb 2 is equipped with the first non-slip mat, 3 court of the second clamping limb towards the side of the second clamping limb 3
The second non-slip mat, the first non-slip mat and sand paper can be used for the second non-slip mat or surface is set are equipped with to the side of the first clamping limb 2
Streaky rubber pad avoids explosive from sliding by the first non-slip mat and the second non-slip mat increasing friction force.
Further, the first cushion, the second clamping limb 3 and second are equipped between the first clamping limb 2 and the first non-slip mat
The second cushion is equipped between non-slip mat, the first cushion and the second cushion are sponge, during buffering clamping
Pressure, to improve the stationarity in explosive clamping process.
In embodiments of the present invention, mechanical arm includes pedestal 5 and height adjustment device 6, height adjustment device 6 respectively with bottom
Seat 5 and mounting base 1 connect, and go up and down for drive installation seat 1.
Specifically, height adjustment device 6 is telescoping cylinder, and the bottom end of telescoping cylinder is connect with pedestal 5, and mounting base 1, which is connected to, stretches
The top of contracting cylinder can be gone up and down by telescoping cylinder expanding-contracting action with drive installation seat 1, so as to different quick-fried of clip position height
Fried object.
As shown in Figure 1, height adjustment device 6 includes swing arm 61 and the second torsion member 62, the second torsion member 62 is connected to bottom
Seat 5, the other end of the driving axis connection of one end of swing arm 61 and the second torsion member 62, swing arm 61 is connect with mounting base 1；Second turns round
Turning part 62 is steering engine or servomotor, swing arm 61 can be driven to swing by the second torsion member 62, and then 1 liter of drive installation seat
Drop.
Further, push-pull device at fixed 7 is connected on pedestal 5, the movable end and mounting base 1 of push-pull device at fixed 7 are hinged, mounting base
1 is hinged with height adjustment device 6, and push-pull device at fixed 7 is used for hinge of the drive installation seat 1 between mounting base 1 and height adjustment device 6
Spindle is swung.
As shown in Figure 1, mounting base 1 and height adjustment device 6 are hinged, push-pull device at fixed 7 is for drive installation seat 1 around mounting base
Articulated shaft between 1 and height adjustment device 6 is swung, and then changes the opening court between the first clamping limb 2 and the second clamping limb 3
To being adjusted so as to the claming angle to explosive.Wherein, push-pull device at fixed 7 is telescoping cylinder, and telescoping cylinder and pedestal 5 are cut with scissors
It connects, alternatively, push-pull device at fixed 7 includes connecting rod 71, rocking bar 72 and third torsion member 73, third torsion member 73 is steering engine or servo-electric
Machine, one end of rocking bar 72 and the driving axis connection of third torsion member 73, the other end and connecting rod 71 of rocking bar 72 are hinged, and connecting rod 71 is remote
One end and mounting base 1 from rocking bar 72 is hinged.By 73 drive rocker 72 of third torsion member around the drive shaft of third torsion member 73
Axis oscillating, and then push and pull connecting rod 71, connecting rod 71 push and pull mounting base 1, thus realize mounting base 1 around mounting base 1 and height adjust
Articulated shaft between regulating device 6 is swung.
Embodiment two
As shown in Figure 4 and Figure 5, explosive trolley provided in an embodiment of the present invention, comprising: car body 8, detector 9, controller and
The mechanical arm that embodiment one provides, mechanical arm are arranged on car body 8, and detector 9 is connect with car body 8, and the direction with mechanical arm
It is identical；Detector 9 is connected with controller, for identification object, and detects the distance between object and car body 8.
Specifically, detector 9 whether there is explosive for detecting, and by controller operational analysis.Car body 8 is used for will
Mechanical arm is moved to corresponding position, is clamped by mechanical arm to explosive.Controller uses the master based on ATmega2560
Control development board, model ArduinoMega 2560.
As shown in Figure 4 and Figure 5, car body 8 includes chassis 81, the first actuator 82, the second actuator 83, third actuator
84, fourth drive member 85, the first omni-directional wheel 86, the second omni-directional wheel 87, third omni-directional wheel 88 and the 4th omni-directional wheel 89, the first omnidirectional
The driving axis connection of wheel 86 and the first actuator 82, the driving axis connection of the second omni-directional wheel 87 and the second actuator 83, third are complete
To wheel 88 and the driving axis connection of third actuator 84, the driving axis connection of the 4th omni-directional wheel 89 and fourth drive member 85, first
Actuator 82, the second actuator 83, third actuator 84 and fourth drive member 85 are all made of photoelectric encoder motor, so as to
The turnning circle of accurate control velocity of rotation, the first omni-directional wheel 86, the second omni-directional wheel 87, third omni-directional wheel 88 and the 4th omni-directional wheel
89 be Mecanum wheel, the first actuator 82, the second actuator 83, third actuator 84 and fourth drive member 85 respectively with control
Device processed is connected, by controlling the first actuator 82, the second actuator 83, third actuator 84 and fourth drive member 85 respectively,
The forward or backward of car body 8 not only may be implemented, but also car body 8 may be implemented and be moved to the left or right.
In embodiments of the present invention, detector 9 includes ultrasonic sensor 91 and visual sensor 92, ultrasonic sensor
91 and visual sensor 92 be connected respectively with controller, there are two ultrasonic sensor 91 is set, two ultrasonic sensors 91
Towards the direction of advance of car body 8, and the two sides of car body 8 are located at, mechanical arm is located between two ultrasonic sensors 91.
Wherein, ultrasonic sensor 91 is for detecting the distance between barrier and car body 8, the supersonic sensing positioned at mechanical arm two sides
Device 91, can be used for detection mechanical arm whether with explosive to just.Visual sensor 92 is used for through the side such as color, size and shape
Face identifies explosive, detects the distance between explosive and car body 8 by ultrasonic sensor 91, and pass through visual sensor 92
The apparent size of explosive is detected, visual sensor 92 can carry out shape when apart from explosive certain distance in the process
Size detection avoids sighting distance from having an impact size detection it may thereby be ensured that size detection is accurate.Visual sensor 92 uses
The ultrasonic distance-measuring sensor of model HC-SR04 can be selected in Pixymon sensor, ultrasonic sensor 91.
Embodiment three
As shown in fig. 6, method for searching provided in an embodiment of the present invention, includes the following steps:
Doubtful object is identified according to color；By taking meadow launches and has black explosive as an example, intensity value ranges are preset in controller,
It is through the gray value of the identification object of visual sensor 92 whether in preset intensity value ranges, color is similar to explosive
Object be determined as doubtful object.
Doubtful object is screened according to the projected area of doubtful object；The size range of explosive is preset in controller, by comparing
The projected area of doubtful object excludes the smaller or excessive object of size, to reduce search area.
Doubtful object is screened according to the appearance profile of doubtful object；Shape and explosive are differed greatly according to the shape of doubtful object
Object exclude, to further reduce search area.
The image of doubtful object and the similarity of template image are calculated, and the doubtful object that similarity is greater than default similarity is true
It is set to object.Wherein, the calculation method of the similarity of the image and template image of doubtful object uses histogram similarity algorithm
It carries out, the screening that doubtful object is carried out according to color, size and shape before movement images similarity, to reduce search
Range is conducive to the arithmetic speed for improving similarity-rough set, so as to improve the recognition efficiency of explosive.
Further, according to the appearance profile of doubtful object screen doubtful object include: calculate doubtful object projected area with it is doubtful
The ratio of object profile minimum circumscribed rectangle area obtains shape ratio；When shape ratio exceeds default ratio range, terminate this
The judgement of frame image.Wherein, shape ratio indicates that doubtful object profile is more similar to rectangle closer to 1, doubtful object and explosive
Common shape is similar, it is possible thereby to which the object that shape differs markedly from explosive is excluded.
As shown in fig. 7, method for searching include the following steps: to calculate separately two ultrasonic sensors 91 and barrier away from
From；When left side detection range is greater than right side detection range, controls explosive trolley and be moved to the left；When right side detection range is greater than a left side
When the detection range of side, controls explosive trolley and move right.Specifically, left when left side detection range is greater than right side detection range
The ultrasonic sensor 91 of side farther out, thus controls explosive trolley and is moved to the left apart from barrier；When right side, detection range is greater than
When the detection range of left side, the ultrasonic sensor 91 on right side farther out, thus controls explosive trolley and moves right apart from barrier.When
The ultrasonic sensor 91 of the left and right sides and when being equidistant of barrier, then explanation is located between two ultrasonic sensors 91
Mechanical arm face barrier, barrier is identified by visual sensor 92, whether disturbance in judgement object is explosive, if
Barrier is that explosive mechanical arm can directly clamp explosive.Car body 8 can will explode after explosive is clamped
Object is moved to specified Explosive Ordnance Demolition area, is not necessarily to personnel's near-by explosion object in the process, it can be ensured that explosive process safety.
It should be noted that when visual sensor 92 fails face towards doubtful object, using image in the prior art
Filtering method can just correct the image of acquisition, and then improve the accuracy of explosive identification.
As shown in fig. 7, control car body 8 moves forward or back, so that left when left side detection range is equal to right side detection range
Side detection range and right side detection range are equal to preset value.When left side detection range is equal to right side detection range, then illustrate
Mechanical arm face barrier, left side detection range and right side detection range are equal to preset value, to ensure 92 energy of visual sensor
Enough colors, shape and size for accurately identifying doubtful object.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of mechanical arm characterized by comprising mounting base (1), the first clamping limb (2), the second clamping limb (3) and first
Torsion member (4), first clamping limb (2) and second clamping limb (3) are pivotally connected to the mounting base (1) respectively, and
First clamping limb (2) and second clamping limb (3) are linked；First torsion member (4) and the mounting base (1) are even
Connect, and for driving second clamping limb (3) so that first clamping limb (2) and second clamping limb (3) rotating around
Respective pivot axially opposite direction is swung.
2. mechanical arm according to claim 1, which is characterized in that first clamping limb (2) includes first gear portion
(21), the first extension (22) and the first clamping part (23), first extension (22) are connected to the first gear portion
(21) between first clamping part (23), second clamping limb (3) includes second gear portion (31), the second extension
(32) and the second clamping part (33), second extension (32) are connected to the second gear portion (31) and second clamping
Between portion (33), the first gear portion (21) is engaged with the second gear portion (31)；
First extension (22) is oppositely arranged with second extension (32), and the middle-end of first extension (22)
It is bent respectively to the direction mutually deviated from the middle-end of second extension (32)；First clamping part (23) and described the
Two clamping parts (33) are oppositely arranged, and the middle-end of first clamping part (23) and the middle-end of second clamping part (33) difference
It is bent to the direction mutually deviated from.
3. mechanical arm according to claim 1, which is characterized in that the mechanical arm includes pedestal (5) and height adjustment dress
It sets (6), the height adjustment device (6) connect with the pedestal (5) and the mounting base (1) respectively, for driving the peace
Fill seat (1) lifting.
4. mechanical arm according to claim 3, which is characterized in that be connected with push-pull device at fixed (7), institute on the pedestal (5)
Hingedly, the mounting base (1) and the height adjustment device (6) are cut with scissors for the movable end for stating push-pull device at fixed (7) and the mounting base (1)
Connect, the push-pull device at fixed (7) for drive the mounting base (1) around the mounting base (1) and the height adjustment device (6) it
Between articulated shaft swing.
5. a kind of explosive trolley, which is characterized in that including any one of car body (8), detector (9), controller and claim 1-4
The mechanical arm, the mechanical arm are arranged on the car body (8), and the detector (9) connect with the car body (8), and
With the mechanical arm towards identical；
The detector (9) is connected with the controller, for identification object, and detects object and the car body (8)
The distance between.
6. explosive trolley according to claim 5, which is characterized in that the detector (9) includes ultrasonic sensor
(91) it is connected respectively with the controller with visual sensor (92), the ultrasonic sensor (91) and visual sensor (92)
It connects, there are two the ultrasonic sensor (91) sets, two ultrasonic sensors (91) are towards before the car body (8)
Into direction, and be located at the two sides of the car body (8), the mechanical arm be located at two ultrasonic sensors (91) it
Between.
7. a kind of method for searching, which comprises the steps of:
Doubtful object is identified according to color；
Doubtful object is screened according to the projected area of doubtful object；
Doubtful object is screened according to the appearance profile of doubtful object；
The image of doubtful object and the similarity of template image are calculated, and the doubtful object that similarity is greater than default similarity is determined as
Object.
8. method for searching according to claim 7, which is characterized in that described doubtful according to the screening of the appearance profile of doubtful object
Object includes:
The ratio for calculating doubtful object projected area and doubtful object profile minimum circumscribed rectangle area obtains shape ratio；
When shape ratio exceeds default ratio range, terminate the judgement of this frame image.
9. method for searching according to claim 7, which is characterized in that the method for searching includes the following steps:
Two ultrasonic sensors (91) are calculated separately at a distance from barrier；
When left side detection range is greater than right side detection range, controls explosive trolley and be moved to the left；
When right side detection range is greater than left side detection range, controls explosive trolley and move right.
10. method for searching according to claim 9, which is characterized in that when left side detection range is equal to right side detection range
When, control trolley moves forward or back, so that left side detection range and right side detection range are equal to preset value.
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