Abstract
Attachment changing in demolition robots has a high docking accuracy requirement, so it is hard for operators to control this process remotely through the perspective of a camera. To solve this problem, this study investigated positioning error and proposed a method of error compensation to achieve a highly precise attachment changing process. This study established a link parameter model for the demolition robot, measured the error in the attachment changing, introduced a reference coordinate system to solve the coordinate transformation from the dock spot of the robot’s quick-hitch equipment to the dock spot of the attachment, and realized error compensation. Through calculation and experimentation, it was shown that the error compensation method proposed in this study reduced the level of error in attachment changing from the centimeter to millimeter scale, thereby meeting the accuracy requirements for attachment changing. This method can be applied to the remote-controlled attachment changing process of demolition robots, which provides the basis for the subsequent automatic changing of attachments. This has the potential to be applied in nuclear facility decommissioning and dismantling, as well as other radioactive environments.
Highlights
With the growing number of aging nuclear facilities and uncontrollable nuclear incidents, the ability to efficiently and safely treat and dispose of radioactive materials has become an important prerequisite for nuclear facility emergencies and nuclear facility decommissioning missions
This study aimed to propose a method for real-time camera calibration that acould method for real-time camera calibration that could compensate for the position error and achieve compensate for the position error and achieve remote, long-distance control of attachment remote, long-distance control of attachment changing with the assistance of a 3D visualization changing with the assistance of a 3D visualization model of the demolition robot
A method of real-time error compensation for the attachment changing of large-size demolition robots was proposed
Summary
With the growing number of aging nuclear facilities and uncontrollable nuclear incidents, the ability to efficiently and safely treat and dispose of radioactive materials has become an important prerequisite for nuclear facility emergencies and nuclear facility decommissioning missions. A demolition robot is a kind of remote-controlled machine that is specially designed for working in dangerous environments and is widely applied in fields like nuclear facility emergencies and nuclear facility decommissioning [1,2]. Compared with the common method of changing construction machinery attachments manually, quick-hitch attachment changing of the demolition robot can be controlled remotely by the operator, which is safer and more efficient [3,4,5]. Introduction of of the the reference reference coordinate coordinate frame. (1) (1) Tag. Tag of of the the reference reference coordinate coordinate frame frame {R}, {R}, (2). Tags of the attachment dock spot (2) quick-hitch equipment, (3) hydraulic quick coupling (male), (4) tags of the attachment dock spot coordinate frame frame {T},
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
