Research On Natural Interaction Technology Of Fire Disposal Robot Based On Augmented Reality

With the steady and rapid economic growth,various industries in our country have developed rapidly and the resulting fire accidents have also been on the rise.Due to the flammable and explosive characteristics of the raw materials of petrochemical industries,firefighters are unable to enter the fire scene with high temperature,darkness,toxic and thick smoke to complete firefighting tasks.It has become an inevitable trend for fire disposal robots to replace firefighters in performing tasks.During the robot’s mission,the operator is completely separated from the robot and teleoperation has become the main interaction mode of the fire disposal robot.Therefore,the interaction technology with natural interaction and telepresense has a decisive influence on the improvement of the working efficiency of the fire disposal robot.Based on the above background,the research on the natural interaction technology of fire disposal robots based on augmented reality is carried out.And the effectiveness of the interaction technology is verified for the valve closing operation scene in the petrochemical site.The experimental results show that the interaction technology has good efficiency.The main work contents are as follows:(1)Construction of the basic interactive platform for the fire disposal robot.Firstly,the software,hardware and communication interface of the robot are designed.The kinematics model of the fire disposal robot is established.Then an incremental proportional mapping method is proposed,and the master-slave control module of the fire disposal robot is built using this method.The basic master-slave control of the robot is realized through the heterogeneous hand controller.The above content provides platform support for follow-up research.(2)Gesture interaction method design.The data glove is used as the gesture information collection device,and the master-slave control of the fire disposal robot is realized by a single gesture through the master-slave control module.In order to realize the interaction between the operator and other functions of the robot,gesture recognition technology is used to expand the range of gesture interaction.Compared with the traditional mechanical interaction method,the gesture interaction method is more in line with the daily behavior of human beings,and is a natural human-computer interaction method,which helps to improve the interaction efficiency.(3)Stereo visual feedback based on augmented reality technology.Based on the Vuforia registration method,the 3D registration of the virtual model in the augmented reality environment is realized,and the virtual robot is built in Unity3D and its motion control is realized.Use the target tracking algorithm and the depth camera to track the target in real time and extract the depth information.Realize depth information enhancement of slave images and input them into the augmented reality environment.This method can indirectly shorten the distance between the operator and the robot,and enhance the telepresense of the interaction.At the same time,augmented reality technology organically integrates the virtual model with the real environment,realizing the coexistence of virtual and real operating scenes.It make the interaction process efficient and safe.(4)The construction and experimental verification of the teleoperation system based on valve closing operation.Based on the above research content,a teleoperation system for fire disposal robot is built.Taking the valve closing operation in the petrochemical scene as the background,the teleoperation experiment is designed to verify the effectiveness of the interactive technology.In the experiment,the operator used gestures as the interaction method and augmented reality as the visual feedback to control the fire disposal robot to close the valve under the condition of complete separation of master and slave.Finally,the experimental results show that the teleoperation system not only has high flexibility,but also has good interactive efficiency.