Research On Visual Positioning Technology Of Teleoperation Engineering Robot

Teleoperation engineering robot means that the operator uses the operating handle to control the remote engineering robot to do accompany movement,and to complete the task that are difficult to reach or hazardous.In order to ensure the high efficiency of engineering robot when it works,we can apply force sense,hearing,vision and motion sense to the control system of teleoperation engineering robot.wherein the visual cue technology refers to a camera which is placed on the working field to transmit the acquired real-time image to the console through serial communication,and the operator carries out remote operation through the returned live image.However,due to the large amount of data transmission in real time,the system often has time delay,which may cause the engineering robot unable to work normally.In order to solve the problem of time delay in the transmission process,the binocular vision technology can be used to extract and match the features of the engineering robot,and then complete the positioning of the engineering robot by obtaining the depth information of the relevant feature points.The delay can be significantly reduced because the amount of data transmission is reduced effectively.However,it is difficult for operators to get intuitionistic operation cues only by the feedback of depth information of some feature points on the working field.Therefore,a visual positioning system for teleoperation engineering robot is designed in this paper,using binocular vision technology to locate the engineering robot and using virtual reality technology to reconstruct the working scene at the same time,build a virtual environment for the actual working scene,and then to show the reconstructed 3D virtual environment that as a visual cue for the operator,thus achieve the visual and accurate operation effect to the engineering robot.The main contents and conclusions of this paper are as follows:1.According to the camera imaging model,establish the mathematical model of the transformation between the four coordinate systems of the camera,and using the camera calibration method of Zhang Zhengyou to calibrate the camera,and then carry out correction for distorted image.2.Based on the analysis of common stereo matching algorithms,this paper presents a visual localization method for teleoperation engineering robots based on single feature point matching,realized the rapid and accurate localization for engineering robot.3.Using the hybrid modeling method of OpenGL and Solidworks,carry out the 3D reconstruction of the working scene of engineering robot,and then to complete the kinematics modeling of engineering robot by D-H method.Finally,built the virtual engineering robot operation simulation platform.The experimental results show that: the method of single feature point matching can realize the rapid and accurate visual positioning for the engineering robot,and its positioning accuracy can meet the requirements of engineering,and the virtual engineering robot operation simulation platform at the same time can effectively provide visual cue for the operator.The results can provide a technical reference for the design of autonomous operation control system of teleoperation engineering robot.