用小型飞锚和深度相机，让绳驱机器人自主连接多根绳索。
An RGB-D Camera-Based Multi-Small Flying Anchors Control for Wire-Driven Robots Connecting to the Environment
- 用微型无人机携带绳钩，自动飞到目标点固定绳索。
- 通过RGB-D相机识别环境，实现非预设场景下多绳同步连接。
- 适合需灵活作业的复杂空间，如救灾或维修场景。
为扩大机器人的作业范围和负载能力，提出一种利用外部环境的绳驱机器人。该机器人可通过外部环境施力，在远超自身结构限制的空间内工作。然而，实际应用中，机器人需基于环境识别自主将多根绳索连接至环境，这一操作极为困难，导致许多绳驱机器人仍局限于特定预设环境。本研究提出一种基于多小型飞锚系统的机器人，结合基于RGB-D相机的控制与环境识别方法，使每个飞锚具备绳端锚定机构，可飞行至目标位置完成连接。系统利用机器人搭载的RGB-D相机识别合适锚点位置，实现非预设环境中多根绳索的同时连接。该方法使绳驱机器人可在任意位置自主连接绳索，从而在任意地点实现绳驱作业的优势。
原文摘要 · Abstract (English)
In order to expand the operational range and payload capacity of robots, wire-driven robots that leverage the external environment have been proposed. It can exert forces and operate in spaces far beyond those dictated by its own structural limits. However, for practical use, robots must autonomously attach multiple wires to the environment based on environmental recognition-an operation so difficult that many wire-driven robots remain restricted to specialized, pre-designed environments. Here, in this study, we propose a robot that autonomously connects multiple wires to the environment by employing a multi-small flying anchor system, as well as an RGB-D camera-based control and environmental recognition method. Each flying anchor is a drone with an anchoring mechanism at the wire tip, allowing the robot to attach wires by flying into position. Using the robot's RGB-D camera to identify suitable attachment points and a flying anchor position, the system can connect wires in environments that are not specially prepared, and can also attach multiple wires simultaneously. Through this approach, a wire-driven robot can autonomously attach its wires to the environment, thereby realizing the benefits of wire-driven operation at any location.
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