Remote Robot Control Based On VR

With the continuous development of robot technology,robots play an important role in industrial,rescue and other aspects.However,in practice,the robot has some problems,such as lack of control terminal flexibility,limited data transmission rate and narrow operating vision.In particular,the buildings in earthquake caused explosion or plant building collapsing of toxic gas leak cases,it will greatly threaten the safety of rescuers.How to carry out rescue work quickly and efficiently under the premise of ensuring the safety of rescuers has become one of the concerns of today's society.Aiming at this problem,this paper designs a remote robot control system based on VR.The robot equipped with this system will replace the rescuer to enter the dangerous and complex scene to detect and rescue trapped people.In addition,compared with the traditional robot?s remote control system,the outstanding advantage of this system is virtual reality technology.Because the introduction of virtual reality technology enhancing the on-site sense and simplifies the operation,resulting in improved accuracy of the operation.At the same time,both head-mounted display and the main control device are android apps.Compared with the current virtual reality devices,they are efficient,easy to use,low cost and easy to be compatible with various android devices.The research is mainly divided into four parts.First,he socket interface through the server as an intermediate station implements the wide area network communication between the robot and the head-mounted display.For the transmission of data such as remote images and control commands,the TCP protocol is used to ensure the accuracy and reliability of data transmission.In addition,WebP technology to compress remote images and reduce the amount of data in the network improves the real-time performance of the system.The second is to use the Unity3 D engine as a development environment to build a binocular camera with "interpupillary distance" to simulate the human eyes.Render the remote image captured by the camera on the robot,and display it with the VR helmet to achieve the stereoscopic effect of the live image.The third is to calculate the operator's head posture using the data which collected by the virtual reality helmet?s gyroscope.Afterwards the helmet transmits the posture data to the robot through remote communication.And a control signal is generated to control the 2-DOF steering gear achieving head posture and camera posture synchronization.The fourth is to combine multiple encryption technologies to ensure that the instructions are not modified and cracked during the transmission process.The symmetric encryption technology is used to generate the private key in the asymmetric encryption process.The asymmetric encryption is used to encrypt and decrypt the control instructions.A one-way hash function is used to verify the integrity of the control instructions.After the overall test of the system,the VR-based robot remote control system designed in this paper has reached the basic requirements of the design.Given good network speed,there is no obvious delay and the real-time performance is better for displaying remote image.The head-mounted display and the camera's posture is alignment.In addition,the virtual reality effect has a noticeable sense of presence,which is helpful for users to timely implement the corresponding judgment and operation.