Robot teleoperation assistance system based on binocular stereo vision

Abstract

The invention discloses a robot teleoperation assisting method based on binocular stereo vision, which comprises the following steps: an image data output step: outputting digital image data to an image measurement processor through a measuring camera, and at the same time outputting the digital image data through a monitoring camera Output to the stereoscopic display processor; image data processing step: the image measurement processor receives the image data of the measuring camera and performs calculations to calculate the relative pose of the specified target, and transmits to the stereoscopic display processor and the robot master system, the stereoscopic display processor receives the image data of the surveillance camera to perform epipolar correction, and transmits the image data of the surveillance camera to the stereoscopic display device; image data display step: the stereoscopic display device displays the stereoscopic The image data output by the display processor is displayed for the operator to watch. The invention has the advantages of high measurement precision, large field of view and easy search for targets.

Description

technical field [0001] The invention relates to binocular stereo vision measurement and display technology, and is a robot remote operation auxiliary method and system based on binocular stereo vision. Background technique [0002] Teleoperation robots can assist operators to complete various tasks, especially in harsh environments where personnel are not suitable for on-site operations, teleoperation robots are required to replace manual operations. An important part of remote operation is the perception of the environment and the target situation. The visual sensor is the key to the robot's perception of the environment. The general two-dimensional image sensor cannot perceive the depth information of the environment. It needs to be used in combination with other sensors such as laser ranging, and the structure is more complicated. The two-dimensional image information fed back by the general robot vision sensor cannot fully describe the three-dimensional environment, and...

AI Technical Summary

Problems solved by technology

The visual sensor is the key to the robot's perception of the environment. The general two-dimensional image sensor cannot perceive the depth information of the environment. It needs to be used in combination with other sensors such as laser ranging, and the structure is more complicated.

The two-dimensional image information fed back by the general robot vision sensor cannot completely describe the three-dimensional environment, and the general teleoperation interactive medium cannot express the real three-dimensional information, and cannot enable the operator to achieve an immersive experience

The existing binocular stereo vision system has a single function. If the field of view is required to be large, the accuracy is not enough; if the measurement accuracy is required to be high, the field of view is small and it is difficult to search for the target.

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