Research Of Teleoperation/Autonomous Operation Control System Based On Binocular Stereo Vision

A teleoperational engineering robotic system is a remote operating system where an operator performs tasks in a complex or dangerous environment remotely.With the continuous development of machine vision,the visual telepresence technology is loaded into the teleoperational engineering robot control system.However,due to the large amount of data captured by the camera,there is a delay in the transmission process,resulting in the engineering robot can't work properly.In order to solve this problem,this paper studies the teleoperation /autonomous operation control system based on binocular stereo vision,establishes the target object autonomous recognition system based on binocular stereo vision and the teleoperation /autonomous operation control converter,and the experiment verifies the effectiveness and feasibility of the teleoperation /autonomous operation control method and the binocular stereoscopic self-recognition system.The specific work is as follows:1.Based on binocular stereo vision target autonomous recognition system,this paper mainly uses binocular camera as the vision sensor of engineering robot.Through spatial stereo calibration,stereo correction,target recognition,stereo matching and a series of processing to project the spatial 3D scene.Among them,stereo matc hing is the key to obtaining spatial location information of objects.This paper proposes an improved stereo matching method and verifies the effectiveness of the method through experiments.2.The kinematics analysis of engineering robots establishes the k inematics model of the engineering robot by establishing a coordinate system in each joint of the engineering robot manipulator and using the D-H(Denavit-Hartenberg)kinematic analysis method to analyze the positive and negative kinematics of the engineer ing robot.3.Research of teleoperation /autonomous operation control converter,using Microsoft Visual Studio 2010 software as development platform,using C++ language,establishing system software platform under WINDOWS XP operating system,researching the transition threshold between teleoperation and autonomous operation control,and establishing the threshold model was validated by experiments.4.Designed the experimental program of the teleoperation /autonomous operation control system.The teleoperation /autonomous operation control system experimental platform was established using the teleoperation control system,the engineering robot control system,the target object automatic recognition system,the displacement detection system,and the like.And the experiment verifies the effectiveness and feasibility of a teleoperation/autonomous operation control system based on binocular stereo vision.The results show that the established binocular stereo self-recognition system has high positioning efficiency and the positioning accuracy meets the engineering requirements.The three-dimensional information of the target obtained in the experiment is within the allowable range of actual engineering error;the established teleoperation/autonomous operation control system with high control efficiency,it can accurately control the robot to reach the target position.The research results can provide technical reference for the visual cue control system of teleoperation engineering robot.