The Research Of The Robot5 S Path Planning And Remote Control Method Based On Machine Vision

The remote control technology of robot had been widely used in daily life with the rapid development of computer science, the theory of control algorithms and artificial intelligence. Also it has played an important role in poor working conditions like deep-sea exploration. Compared to the traditional method of field control, the remote control technology of robot not only broke through the limits of space, but also enhanced the robot's autonomy.Machine vision is a branch of robotics, and it can analyses the visual information of the environment collected by the camera instead of human eyes. In recent years, machine vision has got closer contact with the remote control technology of robot, and the robot could better adapt to the changes of the environment with the introduction of the machine vision, the robustness of its remote control system could be improved too. In addition, the user of the remote control system could supervise the robot with the real-time video, which has been transferred to the user from the robot via the communicate network. As a result, the interaction between the human and the robot has been enriched.The path planning issue of the robot is a hotspot in the field of robot's remote control technology. Firstly, the robot sensed the information of the external environment, after analyzed this information, the robot made some decisions and planned out the moving-path itself. The robot sensed the information of the external environment mainly by the sensors. The vision sensors provided a more comprehensive environment compared to other sensors, so the ability which the robot understood the information of external environment could be enhanced when combined the machine vision technology in path planning issue. In addition, the users could specify the destination of the path by the video interaction generated by the machine vision, thus enhanced the tropism when the robot was planning out the moving-path.Firstly, the paper described the development of the remote control technology both at home and abroad, and the basic theoretical knowledge of the machine vision and image preprocessing has been introduced. Secondly, a method has been designed to solve the problems which occurred both in global path planning and local path planning, this method planned out a global path to guide the robot. At the same time, a local obstacles detecting method, based perceptual hash algorithm, has been designed for the path planning issue of the robot to detect the local obstacles, about which the robot didn't know before.Then the paper introduced a remote control method for robot based machine vision, and its control strategy and some key technologies have been deeply analyzed. After confirming the communication solutions of the system, the hardware and software structure have been designed preliminary.At last, the instruction communication and video transmission have been tested in the paper, also the hybrid path planning algorithm has been simulated in the matlab platform, and some great results were achieved.