Research On Teleoperation System Based On Virtual Reality For Transmisson Line Deicing Robot

Nowadays, robots are applied to working on behalf of human in dangerousenvironment increasingly with the rapid development of computer, robots andinformation technologies. However, it is difficult for robots to finish tasksindependently in dangerous and complicated work environment, in the condition ofpresent maturity of robots technology. Therefore, teleoperation technology is one ofthe key technologies of high voltage transmission line deicing robot, which meanshuman participate in robot’s work with teleoperatioin technology, using human’sintelligence.Virtual reality technology involves simulation, computer and image technologies.Virtual and vivid simulation environment can be set with virtual reality technology,which provides more friendly human-machine interface. In this thesis, to accomplishthe teleoperation system based on virtual reality technology, main studies carried outare as below:1、The application of virtual reality in teleoperation system and mechanicalstructures of deicing robot are discussed firstly, then, the teleoperation system isdesigned in general which makes virtual reality thinking penetrating the whole designprocess.2、3D modeling is the key technology of virtual reality. In this thesis, firstly robotis graphically modeled with3DS MAX and virtual deicing robot and its workenvironment are developed based on OpenGL in VC++environment. Then, kinematicmodel of robot and3D interaction technology are studied and smooth movement isbuilt. Experiment shows that by using3DS MAX combination with OpenGL canestablish complicated model and achieve human-machine interaction.3、Wireless communication system of teleoperation system is studied in thisthesis. According to the technology requirements of communication system, WLANbased on IEEE802.11g and protocol are designed. Then, utilizing Win socket networkprogramming technology to send control instructions data and transmit, display imagevideo on Above-PC. Testing results show that the communication system met thedemands of teleoperation system of deicing robot within space less than150m withoutobstacles.