This paper describes mobile robot tactics for recovering a wheeled vehicle that has overturned. If such a vehicle were to tip over backward off its wheels and be unable to recover itself, especially in areas where it is difficult for humans to enter and work, overall work efficiency could decline significantly, not only because the vehicle is not able to perform its job, but because it becomes an obstacle to other work. Herein, the authors propose a robot-based recovery method that can be used to recover such overturned vehicles, and the authors evaluate its effectiveness. The recovery robot, which uses a mounted manipulator and hand to recover the overturned vehicle, is also equipped with a camera and a personal computer (PC). The ARToolKit software package installed on the PC detects AR markers attached to the overturned vehicle and uses the information they provide to orient itself in order to perform recovery operations. A statics analysis indicates the feasibility of the proposed method. To facilitate these operations, it is also necessary to know the distance between the robotic hand and the target position for grasping of vehicle. Therefore, a theoretical analysis is conducted, and a control system based on the results is implemented. The experimental results obtained in this study demonstrate the effectiveness of the proposed system.

中文翻译：

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使用移动机器人的翻转轮式车辆恢复策略及实验验证

本文描述了移动机器人恢复翻车的轮式车辆的策略。如果这样的车辆从车轮上向后倾倒并且无法自行恢复，特别是在人类难以进入和工作的区域，整体工作效率可能会显着下降，不仅仅是因为车辆无法执行它的工作，但因为它成为其他工作的障碍。在此，作者提出了一种基于机器人的恢复方法，可用于恢复此类倾覆车辆，并评估其有效性。回收机器人使用安装的机械手和手来回收翻倒的车辆，还配备了摄像头和个人电脑 (PC)。安装在 PC 上的 ARToolKit 软件包会检测到附着在倾覆车辆上的 AR 标记，并使用它们提供的信息来定位自身，以便执行恢复操作。静力学分析表明所提出方法的可行性。为了方便这些操作，还需要知道机械手与车辆抓取目标位置之间的距离。因此，进行了理论分析，并实施了基于结果的控制系统。本研究中获得的实验结果证明了所提出系统的有效性。还需要知道机械手与抓取车辆目标位置之间的距离。因此，进行了理论分析，并实施了基于结果的控制系统。本研究中获得的实验结果证明了所提出系统的有效性。还需要知道机械手与抓取车辆目标位置之间的距离。因此，进行了理论分析，并实施了基于结果的控制系统。本研究中获得的实验结果证明了所提出系统的有效性。