基于立体视觉的遥操作工程机器人自主作业系统

Autonomous Task Control System of Construction Tele-robot Based on Stereo Vision

建立了基于立体视觉技术的遥操作工程机器人自主作业控制系统。采用立体视觉技术实现对目标物体的形状自动识别与空间定位,进行了遥操作工程机器人运动学方程求解、运动轨迹规划与控制的研究。针对液压伺服控制系统具有非线性、参数不确定的特点,设计了模糊控制器。最后,在遥操作工程机器人实验台上进行了自主作业控制实验。实验结果表明,所构建的基于立体视觉技术的工程机器人自主作业控制系统,能够完成初步的自主作业任务,且作业过程比较流畅。

In order to enhance the autonomy of construction tele-robot（CTR）,a complete autonomous task control system of CTR based on stereo vision technology was established.Firstly,automation recognition and space location of the target object were studied by stereo vision and image processing technology.And then,forward and reverse kinematics equations,trajectory planning and control were discussed.To make the autonomous movement smoothly,trajectory function must be continuous and smooth,and expectation joint displacement and velocity would be obtained by forward kinematics equation.A fuzzy controller was designed.Finally,experiments of the autonomous task control were carried out on CTR test-bed.The experiments results indicated that autonomous task control system of CTR based on stereo vision technology was reliable and safe to complete their task,and task process was smooth.