关键词: 移动机械手；环境感知；多源信息融合；定位

Abstract:

This paper adopted HEBUT-Ⅱ mobile manipulator as the research object, which was used for leak detecting and repairing for dangerous chemical reactor.We researched the orientation of mobile manipulator end-effector based on multi-source information fusion, realizing the fusion of vision and ultrasonic information, finally, the results were applied at the precision orientation of manipulator end-effector.The orientation equipment included vision system and ultrasonic sensor, thereinto, the vision system was used to generate a
2-dimensional image that was prone to be recognised and understood by the computer, at the same time, the third information, that was the distance between the end of manipulator and the operated surface was provided by ultrasonic sensor.Examinations make known that the method can fastly and truly pick-up the information of leakage location and do some work for the next task-gushing glue and blocking up the leak.

Key words: mobile manipulator;environmental perception;multi-source information fusion;orientation