CN109434870A - A kind of virtual reality operation system for robot livewire work - Google Patents
A kind of virtual reality operation system for robot livewire work Download PDFInfo
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- CN109434870A CN109434870A CN201811088376.7A CN201811088376A CN109434870A CN 109434870 A CN109434870 A CN 109434870A CN 201811088376 A CN201811088376 A CN 201811088376A CN 109434870 A CN109434870 A CN 109434870A
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- 238000004891 communication Methods 0.000 claims description 26
- 230000033001 locomotion Effects 0.000 claims description 20
- 210000000707 wrist Anatomy 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000012549 training Methods 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
- 210000000245 forearm Anatomy 0.000 claims description 3
- 210000004247 hand Anatomy 0.000 claims description 3
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- 238000004088 simulation Methods 0.000 abstract description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The present invention provides a kind of virtual reality operation systems for robot livewire work comprising virtual reality system and practical OS's；The present invention combines robot livewire work with virtual reality technology, operator mainly undertakes the task of operation virtual reality software, remote operating is carried out to robot or allows robot autonomous operation, virtual reality system obtains feedback information and establishes virtual three-dimensional scene, operator is by analyzing virtual three-dimensional scene true to nature, establish preliminary operating process, then simulated operation is carried out by analogue system, it avoids malfunctioning, in the correct situation of simulation operations, operator can remotely control robot by remote control system, or it issues AUTONOMOUS TASK instruction and allows the robot autonomous process that fulfils assignment, in operation, systems stay is modeled, rendering and three-dimensionalreconstruction, to ensure the real-time and operability of system.
Description
Technical field
The invention belongs to technical field of virtual reality, in particular to a kind of virtual reality for robot livewire work is grasped
Make system.
Background technique
The virtual reality technology in China is mainly used on the scan rebuilding and emulation of three-dimensional scenic, and there are no answer well
Used in hot line robot emulation and real-time operation field.It, on the one hand can be big using object operation in livewire work training
Amount consumption electric power, on the other hand since start-up's operation is not familiar, it may occur however that safety accident；In hot line robot operation
In the process, working environment is complicated and changeable, and configuration is closely random, and working space is narrow, this non-structured operation ring
Border will greatly increase the difficulty of robot livewire work, reduce operating efficiency, or even bring security risk.Research is based on virtual existing
The livewire work technology of real approach sense of vision can provide a training platform efficiently, safe not only for start-up, improve
The efficiency of livewire work training；Simultaneously an authenticity, the property immersed, Multi-Sensory and interactivity can also be constructed for operator
Good virtual reality system, improves the gentle safety of Automated water of livewire work, improves the running quality of power grid, has huge
Economic benefit and social benefit.
The research and development and application of hot line robot of the China based on virtual reality technology are based on domestic independent research.But
The hot line robot of domestic research and development at present, in intelligent control, information Perception, to the adaptability of unstructured moving grids, double
In terms of manipulator Collaborative Control, had a certain gap compared with the hot line robot of western developed country, it still cannot be autonomous
The work of elaborate is completed on ground, and job content and the operating efficiency of robot are very limited, fail really to realize engineering
Change application.
Summary of the invention
The present invention combines robot livewire work with virtual reality technology: it is virtual existing that operator mainly undertakes operation
The task of real software carries out remote operating to robot or allows robot autonomous operation, and virtual reality system obtains feedback information
And establish virtual three-dimensional scene.Operator establishes preliminary operating process, then by analyzing virtual three-dimensional scene true to nature
Simulated operation is carried out by analogue system, avoids malfunctioning.In the correct situation of simulation operations, operator can pass through distant behaviour
Make system and robot is remotely controlled, or issues AUTONOMOUS TASK instruction and allow the robot autonomous process that fulfils assignment.It is grasping
During work, systems stay modeled, is rendered and three-dimensionalreconstruction, to ensure the real-time and operability of system.
The present invention is specially a kind of virtual reality operation system for robot livewire work, described to be used for robot band
The virtual reality operation system of electric operation includes virtual reality system and practical OS's, the virtual reality system and described
Practical OS's Communication Card by wirelessly communicate or fiber optic communication in a manner of carry out two-way communication；The virtual reality system
System includes image processor, the first Communication Card, control device, control device information acquisition unit, primary processor, main display and view
Frequency monitoring display screen, described image processor are connected to the primary processor and the video monitoring display screen, and described first is logical
News board is bi-directionally connected with the primary processor, and the control device is connected to the control device information acquisition unit, described
Control device information acquisition unit is connected to the primary processor, and the primary processor is also connected to the main display；The reality
Border operating system includes that monitor camera, the second Communication Card, Robot Path planning and motion control processor, manipulator are double
Lens camera, left and right manipulator and manipulator pose acquire sensor, and the monitor camera is connected to described second
Communication Card, second Communication Card is planned with the Robot Path and motion control processor is bi-directionally connected, institute
It states manipulator binocular camera and manipulator pose acquisition sensor is all connected to the Robot Path planning and movement
Control processor, the Robot Path planning and motion control processor are also connected to the left and right manipulator, described
Left and right manipulator is connected respectively to the manipulator binocular camera and manipulator pose acquisition sensor；The master
Processor completes the building of three-dimensional virtual scene, according to the unstructured moving grids information handled by image processor and by leading to
Interrogate the manipulator posture information of board transmission, real-time update virtual scene；The Robot Path planning and motion control processing
Device completes different function according to the different of system operating mode, when robot work is in AUTONOMOUS TASK working method, the processor
According to scheduled process, the final position of each step process is independently determined, when system works in remote operating working method, the processing
The posture information that device is issued according to primary processor drives Work machine hands movement.
Further, the control device is the remote operating equipment of the virtual reality operation system, when system works distant
Operation element mode need to control the posture of left and right manipulator, in this mode of operation, the control device by the control device
Information acquisition unit acquires the posture information of the control device, and sends the Robot Path to as control parameter and advise
Draw and motion control processor.
Further, the manipulator binocular camera is mounted on each mechanical arm tail end, provides two synchronous videos
Signal, image processor handle the image information of acquisition；The monitor camera provides panorama image information, at image
It manages device and operating environment is reappeared by virtual reality technology and Three Dimensional Reconfiguration.
Further, image processor obtains robot system panorama CCD camera by Communication Card and binocular camera is multiple
The image of camera shooting identifies that robot in unstructured moving grids needs the target device of operation by mode identification technology,
Position and the dimensional information of equipment are obtained by the three-dimensional measuring method of multi-vision visual, and will be believed comprising manipulator and ambient enviroment
The image of breath is shown on monitoring display screen.
Further, the target device that operation is needed for robot in identification unstructured moving grids, should establish electrification first and make
The equipment template library of industry robot system, the i.e. image comprising each equipment feature including operating environment scene, and deposited
Storage in the database, establishes equipment template library, recycles model library, realizes equipment in real-time scene using template matching algorithm
Automatic identification.
Further, after identifying the equipment in unstructured moving grids, it must be determined that the three-dimensional position and ruler of the equipment
Spend information；Two kinds be retrieved as finding using searching algorithm in the left mesh of binocular camera and right mesh of scene three-dimensional spatial information are not
With the different subpoints of the Same Scene point in projected image, its potential difference in the mesh image of left and right is calculated, potential difference data are utilized
The range information of the scene point and camera is calculated with camera intrinsic parameter, and then calculates the three-dimensional point cloud information of scene；And equipment
Position and scale are retrieved as after obtaining scene three-dimensional point cloud information using binocular stereo vision, each are set in conjunction with what is extracted before
Standby region in the picture, obtains the three-dimensional position and dimensional information of equipment, sets sending to master computer to be able to achieve in the information
The real-time synchronization of standby model.
Further, to the position servo control from each joint of arm and operator is made to obtain telepresenc, control device for realization
Waist revolution, large arm pitching, forearm pitching, wrist pitching and wrist corresponding to manipulator wave 5 rotary joints and all install
Strong torque motor and precision potentiometer, the 6th wrist revolute joint are only equipped with precision potentiometer；Arm end clamper
Folding passes through torque electricity by the trigger control on control device end hand grip, the power either statically or dynamically of distal end manipulator
Machine is reflected to operator, and each joint of manipulator is also fitted with accurate angular position pick up, each for providing manipulator
The information of joint position.
Further, the virtual reality operation system works in off-line training mode, and this working method simulation is all
The failure being likely encountered in practice, operator are moved virtual robot by control control device, touch screen, keyboard input devices
Accurate station is moved, after assigning control instruction, virtual robot independently fulfils assignment task.
Further, it is real-time control mode that the virtual reality operation system, which works in, under remote operating mode, operation
Person adjusts the posture of manipulator by control device according to the manipulator pose of virtual reality system real-time display, environmental information；
And under AUTONOMOUS TASK mode, operator need to only issue corresponding instruction, and manipulator independently fulfils assignment task, at this time operator
Its operation process is monitored by virtual reality system.
Further, the virtual reality operation system works in the working method first simulated and operated afterwards, the working method
Actual scene is first constructed in virtual scene, control virtual robot works in the scene, when virtual robot is correctly complete
After job task, then carry out the operation of real system.
Detailed description of the invention
Fig. 1 is a kind of structure composition schematic diagram of the virtual reality operation system for robot livewire work of the present invention.
Specific embodiment
With reference to the accompanying drawing to a kind of specific reality of the virtual reality operation system for robot livewire work of the present invention
The mode of applying elaborates.
As shown in Figure 1, the virtual reality operation system for robot livewire work of the invention includes virtual reality system
System and practical OS's, the virtual reality system and the practical OS's are wirelessly communicated by Communication Card or light
The mode of fiber communication carries out two-way communication；The virtual reality system include image processor, the first Communication Card, control device,
Control device information acquisition unit, primary processor, main display and video monitoring display screen, described image processor are connected to described
Primary processor and the video monitoring display screen, first Communication Card is bi-directionally connected with the primary processor, described
Control device is connected to the control device information acquisition unit, and the control device information acquisition unit is connected to the primary processor,
The primary processor is also connected to the main display；The practical OS's include monitor camera, the second Communication Card,
Robot Path planning and motion control processor, manipulator binocular camera, left and right manipulator and manipulator pose
Sensor is acquired, the monitor camera is connected to second Communication Card, second Communication Card and the manipulator
Path planning and motion control processor are bi-directionally connected, the manipulator binocular camera and manipulator pose acquisition
Sensor is all connected to the Robot Path planning and motion control processor, the Robot Path planning and motion control
Processor is also connected to the left and right manipulator, and the left and right manipulator is connected respectively to the manipulator binocular and takes the photograph
Camera and the manipulator pose acquire sensor；The primary processor completes the building of three-dimensional virtual scene, according to by image
The unstructured moving grids information and the manipulator posture information transmitted by Communication Card, real-time update that processor is handled are virtual
Scene；The Robot Path planning and motion control processor complete different function according to the different of system operating mode, when
For robot work in AUTONOMOUS TASK working method, which independently determines the final of each step process according to scheduled process
Position drives working rig when the posture information that system work is issued in remote operating working method, the processor according to primary processor
Tool hands movement.
The control device is the remote operating equipment of the virtual reality operation system, when system works in remote operating work side
Formula need to control the posture of left and right manipulator, in this mode of operation, the control device information collection list by the control device
Member acquires the posture information of the control device, and sends the Robot Path to as control parameter and plan and move control
Processor processed.
The manipulator binocular camera is mounted on each mechanical arm tail end, provides two synchronous vision signals, image
Processor handles the image information of acquisition；The monitor camera provides panorama image information, and image processor passes through
Virtual reality technology and Three Dimensional Reconfiguration reappear operating environment.
Image processor obtains robot system panorama CCD camera by Communication Card and the multiple cameras of binocular camera are shot
Image, identify that robot in unstructured moving grids needs the target device of operation by mode identification technology, by mostly visually
The three-dimensional measuring method of feel obtains position and the dimensional information of equipment, and the image comprising manipulator and ambient condition information is shown
Show on monitoring display screen.
The target device that operation is needed for robot in identification unstructured moving grids, should establish hot line robot system first
The equipment template library of system, the i.e. image comprising each equipment feature including operating environment scene, and store it in database
In, equipment template library is established, model library is recycled, the automatic identification of equipment in real-time scene is realized using template matching algorithm.
After identifying the equipment in unstructured moving grids, it must be determined that the three-dimensional position and dimensional information of the equipment；?
The two kinds of different perspective views of scape three-dimensional spatial information being retrieved as finding using searching algorithm in the left mesh of binocular camera and right mesh
The different subpoints of Same Scene point as in, calculate its potential difference in the mesh image of left and right, using in potential difference data and camera
Parameter calculates the range information of the scene point and camera, and then calculates the three-dimensional point cloud information of scene；And device location and ruler
Degree is retrieved as after obtaining scene three-dimensional point cloud information using binocular stereo vision, in conjunction with each equipment extracted before in image
In region, obtain the three-dimensional position and dimensional information of equipment, be able to achieve device model for sending in the information to master computer
Real-time synchronization.
To realize to the position servo control from each joint of arm and operator being made to obtain telepresenc, control device corresponds to machinery
Waist revolution, large arm pitching, forearm pitching, wrist pitching and the wrist of hand wave 5 rotary joints and are fitted with torque motor
And precision potentiometer, the 6th wrist revolute joint are only equipped with precision potentiometer；The folding of arm end clamper passes through behaviour
The trigger control on device end hand grip is controlled, the power either statically or dynamically of distal end manipulator is reflected to behaviour by torque motor
Author, each joint of manipulator is also fitted with accurate angular position pick up, for providing each joint position of manipulator
Information.
The virtual reality operation system works in off-line training mode, and this working method simulation is all in practice may
Virtual robot is moved to accurate work by control control device, touch screen, keyboard input devices by the failure encountered, operator
Position, after assigning control instruction, virtual robot independently fulfils assignment task.
It is real-time control mode that the virtual reality operation system, which works in, and under remote operating mode, operator is according to void
The manipulator pose of quasi- reality system real-time display, environmental information adjust the posture of manipulator by control device；And autonomous
Under operation mode, operator need to only issue corresponding instruction, and manipulator independently fulfils assignment task, and operator passes through virtual at this time
Reality system monitors its operation process.
The virtual reality operation system works in the working method first simulated and operated afterwards, and the working method is first in virtual field
Actual scene is constructed in scape, control virtual robot works in the scene, when virtual robot is properly completed job task
Afterwards, then the operation of real system is carried out.
Finally it should be noted that only illustrating technical solution of the present invention rather than its limitations in conjunction with above-described embodiment.Institute
The those of ordinary skill in category field is it is to be understood that those skilled in the art can repair a specific embodiment of the invention
Change or equivalent replacement, but these modifications or change are being applied among pending claims.
Claims (10)
1. a kind of virtual reality operation system for robot livewire work, which is characterized in that described to be charged for robot
The virtual reality operation system of operation includes virtual reality system and practical OS's, the virtual reality system and the reality
Border operating system Communication Card by wirelessly communicate or fiber optic communication in a manner of carry out two-way communication；The virtual reality system
Including image processor, the first Communication Card, control device, control device information acquisition unit, primary processor, main display and video
Monitoring display screen, described image processor are connected to the primary processor and the video monitoring display screen, first communication
Board is bi-directionally connected with the primary processor, and the control device is connected to the control device information acquisition unit, the behaviour
Control device information acquisition unit is connected to the primary processor, and the primary processor is also connected to the main display；The reality
Operating system includes monitor camera, the second Communication Card, Robot Path planning and motion control processor, manipulator binocular
Video camera, left and right manipulator and manipulator pose acquire sensor, and it is logical that the monitor camera is connected to described second
Board is interrogated, second Communication Card is planned with the Robot Path and motion control processor is bi-directionally connected, described
Manipulator binocular camera and manipulator pose acquisition sensor are all connected to the Robot Path planning and movement control
Processor processed, the Robot Path planning and motion control processor are also connected to the left and right manipulator, the left side
Right manipulator is connected respectively to the manipulator binocular camera and manipulator pose acquisition sensor；The main place
The building that device completes three-dimensional virtual scene is managed, according to the unstructured moving grids information handled by image processor and by communicating
The manipulator posture information of board transmission, real-time update virtual scene；The Robot Path planning and motion control processor
Different according to system operating mode complete different function, when robot work is in AUTONOMOUS TASK working method, the processor root
According to scheduled process, the final position of each step process is independently determined, when system works in remote operating working method, the processor
According to the posture information that primary processor issues, Work machine hands movement is driven.
2. a kind of virtual reality operation system for robot livewire work according to claim 1, which is characterized in that
The control device be the virtual reality operation system remote operating equipment, when system work in remote operating working method, need to lead to
The posture of the control device control left and right manipulator is crossed, in this mode of operation, the control device information acquisition unit acquisition
The posture information of the control device, and the Robot Path planning and motion control processing are sent to as control parameter
Device.
3. a kind of virtual reality operation system for robot livewire work according to claim 2, which is characterized in that
The manipulator binocular camera is mounted on each mechanical arm tail end, provides two synchronous vision signals, image processor pair
The image information of acquisition is handled；The monitor camera provides panorama image information, and image processor passes through virtual reality
Technology and Three Dimensional Reconfiguration reappear operating environment.
4. a kind of virtual reality operation system for robot livewire work according to claim 3, which is characterized in that
Image processor is obtained the image of robot system panorama CCD camera and the multiple camera shootings of binocular camera by Communication Card,
It identifies that robot in unstructured moving grids needs the target device of operation by mode identification technology, passes through the three-dimensional of multi-vision visual
Method for measurement obtains position and the dimensional information of equipment, and the image comprising manipulator and ambient condition information is shown and is being monitored
On display screen.
5. a kind of virtual reality operation system for robot livewire work according to claim 4, which is characterized in that
The target device that operation is needed for robot in identification unstructured moving grids, should establish the equipment of hot line robot system first
Template library, the i.e. image comprising each equipment feature including operating environment scene, and store it in database, foundation is set
Standby template library, recycles model library, and the automatic identification of equipment in real-time scene is realized using template matching algorithm.
6. a kind of virtual reality operation system for robot livewire work according to claim 5, which is characterized in that
After identifying the equipment in unstructured moving grids, it must be determined that the three-dimensional position and dimensional information of the equipment；Scene three-dimensional space
Between information two kinds of different projected images being retrieved as finding using searching algorithm in the left mesh of binocular camera and right mesh in it is same
The different subpoints of one scene point calculate its potential difference in the mesh image of left and right, are calculated using potential difference data and camera intrinsic parameter
The range information of the scene point and camera, and then calculate the three-dimensional point cloud information of scene；And device location and scale are retrieved as
After obtaining scene three-dimensional point cloud information using binocular stereo vision, in conjunction with the area of each equipment extracted before in the picture
Domain obtains the three-dimensional position and dimensional information of equipment, is able to achieve the real-time same of device model for being sent in the information to master computer
Step.
7. a kind of virtual reality operation system for robot livewire work according to claim 6, which is characterized in that
To realize to the position servo control from each joint of arm and operator being made to obtain telepresenc, control device corresponds to the waist of manipulator
Revolution, large arm pitching, forearm pitching, wrist pitching and wrist wave 5 rotary joints and are fitted with torque motor and precision electricity
Position meter, the 6th wrist revolute joint are only equipped with precision potentiometer；The folding of arm end clamper passes through control device end
Trigger control on handle, the power either statically or dynamically of distal end manipulator are reflected to operator, operation by torque motor
Each joint of manipulator is also fitted with accurate angular position pick up, for providing the information of each joint position of manipulator.
8. a kind of virtual reality operation system for robot livewire work according to claim 7, which is characterized in that
The virtual reality operation system works in off-line training mode, and this working method simulates all events being likely encountered in practice
Virtual robot is moved to accurate station, is being assigned by barrier, operator by control control device, touch screen, keyboard input devices
After control instruction, virtual robot independently fulfils assignment task.
9. a kind of virtual reality operation system for robot livewire work according to claim 7, which is characterized in that
It is real-time control mode that the virtual reality operation system, which works in, and under remote operating mode, operator is according to virtual reality system
The manipulator pose of real-time display, the environmental information of uniting adjust the posture of manipulator by control device；And in AUTONOMOUS TASK mode
Under, operator need to only issue corresponding instruction, and manipulator independently fulfils assignment task, and operator passes through virtual reality system at this time
Monitor its operation process.
10. a kind of virtual reality operation system for robot livewire work according to claim 7, feature exist
In the virtual reality operation system works in the working method first simulated and operated afterwards, and the working method is first in virtual scene
Actual scene is constructed, control virtual robot works in the scene, after virtual robot is properly completed job task, then
Carry out the operation of real system.
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| CN110421558A (en) * | 2019-06-21 | 2019-11-08 | 中国科学技术大学 | Universal remote control system and method towards power distribution network Work robot |
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