Research On Remote Operation Engineering Robot System Based On VR

The teleoperation engineering robot system completes the remote w ork tasks in complex environments by means of human intelligence and experience,and improves the stability and operability of the system through telepresence cue technology,such as the visual sense,force sense,and motion perception etc.In order to enable the operator to complete the remote operation task of teleoperation engineering robot intuitively and efficiently,this paper designs and studies a teleoperation engineering robot system based on virtual reality(VR),which adopts master-slave teleoperation mode to establish virtual engineering robot system at the operator's side to provide the operators with visual telepresence and force telepresence,and uses a force feedback handle to control the remote engineering robot.When the system works,the binocular vision positioning system collects the coordinate information of the target feature points and feeds back to the virtual engineering robot system,and updates the posture of the target object and the working environment in the virtual engineering robot system through the three-dimensional reconstruction technology,with this as the visual feedback of the system.The force sensor is installed on the grasping hand of the remote engineering robot collects the force of the mechanical gripper and the target object,and the feedback force is calculated by the corresponding force feedback control algorithm,and the feedback force is fed back to the operator through the force feedback handle which this as the force feedback of the system.The specific work content is as follows:Firstly,starting from the actual task of the teleoperation engineering robot,the overall design of the teleoperation virtual engineering robot system is completed.The hardware platform of the engineering robot subsystem,the binocular vision positioning subsystem and the force feedback subsystem of the system are constructed.The virtual engineering robot subsystem and the operation management subsystem are designed.Secondly,for the traditional binocular vision positioning method,it is difficult to meet the fast and accurate operation requirements of teleoperation engineering robots.A binocular vision positioning method of teleoperation engineering robot based on improved ORB feature is proposed.The calibration,feature extraction and matching of the camera are completed,and the rectangular bricks,polygonal stones and irregular stones are taken as targets,for experimental research,compared with the traditional SIFT,SURF and ORB algorithms.Then,the establishment of the virtual engineering robot system modeling is completed.According to the structure and motion characteristics of the engineering robot,the geometric model and kinematic model of the engineering robot are established.The principle of force feedback system is analyzed,and the hardware selection and software design of force feedback system are completed.Finally,the experimental scheme of the teleoperation engineering robot system based on VR is designed.The binocular vision positioning system is experimental ly researched and model of the teleoperation engineering robot system is established to complete the grabbing experiment of the target and the experimental results were analyzed.The research results show that the binocular vision positioning method of teleoperation engineering robot based on improved ORB feature can be used to improve matching efficiency,eliminate mismatch,and have high positioning efficiency,which can meet the real-time requirements of teleoperation engineering robot operation.The teleoperation engineering robot system based on VR can reduce the time delay of visual feedback and realize the synchronization of visual feedback and force feedback,which enable the operator to complete the remote operation task of teleoperation engineering robot intuitively and efficiently.