针对狭窄空间作业的机器人动态视觉系统研究

Research of Dynamic Vision System for the Narrow Space Working of Robot

为应对配网狭窄作业空间内视场遮挡对作业机器人环境感知和定位功能的影响,这里研究了基于遥操作和虚拟/增强现实(VR/AR)技术的高临场感动态视觉感知与定位系统。受人体仅通过弯曲身体就可对物体多角度观测的启发,设计搭建了包含VR头戴设备、六自由度机器人和双目相机的动态视觉感知系统,提出了针对该系统的异构型主从遥操作逆运动学模型,并建立了观测目标绝对位置粗定位模型。试验表明,这里建立的动态视觉系统具有较高临场感,双目相机对VR设备的位置跟踪平均误差≤1.7mm,姿态跟踪平均误差<2.36°;另一方面,系统在5个不同角度下对一个距离1.1米的红色固定小球球心的空间定位偏差≤1%,能为操控人员提供较精确较高的目标粗定位信息。

To cope with the effect of the vision blocked on the performance of working environment precepting and target locating of hot-line work robot,a dynamic vision perception and location system with high telepresence,based on teleoperation and virtue-reality/augmented-reality(VR/AR)technologies, is developed in this paper. Inspired by the shape changing of human spine when watching a fixed object in different positions and orientations,a dynamic vision perception system, consisted with a VR gear and 6 DOF serial type robot, is designed. And the corresponding models for the inverse kinematics(IK)of the asymmetric masterslave teleoperation and target rough-locating in the absolute coordinate system are proposed,respectively. Experiments result shows that,on one hand,the teleoperation system is with high telepresence,where the accuracy of tracking is up to 1.7 mm in linear,2.36° in angular;on the other hand,when locating a fixed ball’s center in the absolute coordinate system from 5 different positions and orientations,the error between the calculated and actual is smaller than 1%,which demonstrates that this system is able to provide the target location with good accuracy for pilot.