Research On Virtual Reality Assisted Teleoperation Of Condenser Cleaning Robot

The industry robot becomes more and more popular in many areas, because it increases labor efficiency and overcomes operating limit. Condenser cleaning robot is just a kind of industrial cleaning robots, which solves the problem of the condenser cleaning and reduces the cleaning expense. The condenser cleaning robot is centered on in this paper and a series of studies about its teleoperation technologies are researched:Firstly, the necessity of fouling cleaning is explained by investigating the cause of fouling accumulation and its influence on heat transfer performance of condenser. With comparing the advantages and disadvantages of the ordinary fouling cleaning methods, the concept of the cleaning robot is proposed to take the advantages of all the ordinary methods.Secondly, the development course of our research and the principle of the intelligent cleaning robot system have been summerized. The whole robot is designed in detail on this base, including its cleaning system and mechanical structure, as well as the design of robot's hardware and software.In order to reduce the time delay of the Internet teleoperation and provide a favourable human-machine interface, virtual reality technology is introduced to assist the teleoperation. The cleaning robot's teleoperation system based on virtual reality is designed, which includes the sensors system, the teleoperation system and the virtual reality system. On top of this, the communication protocol is implemented in detai, including the command transmission protocol, the video transmission protocol, the teleopration program and the human-machine interface.Thirdly, the virtual reality teleopration of the cleaning robot is studied. 3ds max is used to create a 3D model of the robot and its environment. The model is imported to the virtual reality platform, in which the kinematics of the robot's position process is analysised in focus. Based on the above research, the whole virtual reality system is implemented, which combines the teleoperation system and the virtual reality technology.At last, the accurate positioning of the robot and the spray gun's accuracy is studied, which is the most important problem of the teleoperation system. The accurate position ensures the real word robot and the virtual robot move synchronous. For the robot's positioning, the inertia measurement unit and the electronic compass sensor is used to get the precise position information and an adaptive algorithm baed on Kalman filter is designed to fuse the sensors data. The CCD camera is employed for the spray gun's positioning, furthermore, the underwater visual system is designed and a pipe positioning algorithm based on least squares is proposed.