Air flotation teleoperation platform based on binocular vision

Abstract

The invention relates to an air flotation teleoperation platform based on binocular vision, belonging to the technical filed of space robots, wherein a high-pressure tank is arranged in the air flotation tank platform, the bottom part of the air flotation platform is provided with an air foot and a nozzle. A mechanical arm mounting base, a power module, a motor driver and a controller are arranged on the air flotation platform, wherein the controller is connected with an electromagnetic valve through a connecting cable, and a valve of the high-pressure tank is respectively connected with the nozzle and the air foot. A binocular vision device and two mechanical arms are fixed on the air flotation platform through the mechanical arm mounting base. The mechanical arm comprises a shoulder joint, an upper arm, an elbow joint, a fore arm and a paw, wherein the shoulder joint is fixed on the mechanical arm mounting base, and the upper arm, the elbow joint, the fore arm are sequentially connected with the shoulder joint. The teleoperation platform of the invention can observe a target object in multi directions, and provides depth information of the target object by utilizing the binocular vision, so the invention is beneficial to the teleoperation personnel to learn about the distal environment, and avoid the occurance of accidences such as collision and the like.

Description

technical field [0001] The invention relates to an air-floating teleoperation platform based on binocular vision, belonging to the technical field of space robots. Background technique [0002] Human beings have entered the 21st century, and science and technology have developed rapidly, and they have begun to actively explore areas outside the earth. The ability to develop and utilize space has become an important symbol to measure a country's comprehensive strength and status as a great power. Space robots are gradually becoming an important means of developing space in the future. Teleoperation is an important control method for space robots. Using teleoperation space robots instead of astronauts for space operations can not only avoid the risk of astronauts working outside the cabin, but also improve the economy and safety of space exploration. [0003] Since the space robot works in a microgravity environment, and the base is not fixed, there is serious kinematic coup...

AI Technical Summary

Problems solved by technology

The end of the existing teleoperation platform only has monocular vision, and its field of view is limited. It is easy to be blocked during the teleoperation process and cannot measure depth information, which also limits the role of the vision system and is not conducive to the smooth completion of teleoperation tasks.

[0004] The existing teleoperation devices of space robots have the following disadvantages: the end of the existing teleoperation platform only has monocular vision, the field of view is limited, it is easy to be blocked and cannot measure depth information

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