Research And Implementation Of The Intelligent Operating System Based On Eod Robot's Binocular Vision

With the rapid development of Robotics, Robots have been widely applied in various fields in recent years. The robots in the kinds of extreme conditions represented by explosives disposal, fire etc gradually work into the applications, which are used to replace human beings in many dangerous environments, such as radioactive contaminated areas, the region with explosives, pollution environment and extreme environments like coal and space.Based on the current common problems, such as operation difficulties, low intelligence, low operating precision and the operation efficiency etc. For the purpose of operating in extreme conditions, such intelligent mobile robot's operating system has been developed in the paper and the overall design framework has been determined. The system consists of stereo vision module, Path planning module, Teleoperation module, PC control module and Communication module.Based on EOD robot prototype II, the implementation of the submodules in the robot are researched. To improve the operability and maintainability of the system, the article analyzes and summarizes the submodules, then uses MFC to package the various sub-modules and design the computer interface, making the system easy to modify and expand. Binocular stereo vision system module is an important module in the system. In this paper, the calibration methods and image preprocessing methods have been studied. To get high accuracy&real-time, compared to the original region matching algorithm, the image matching algorithm based on Epipolar has been proposed. In the premise of ensuring the accuracy of matching, this algorithm can greatly improve the real-time. As the important symbol of Intelligent Robot, the article studies the path planning algorithm. Base on common defects such as slow evolution, local optimization etc and the energy needs of EOD robots, the improved genetic algorithm for path planning has been proposed, which has been proved to be effective by the simulation in the paper.Finally the Teleoperation module and Communication module have been introduced simply. To improve the Robustness of system, the article analyzes the processing of communications data in the EOD robot.