Bionic-based robot perception control system and control method

Abstract

The invention discloses a bionic-based robot perception control system and a control method. The system comprises a robot body, a mechanical arm and a visual inertial navigation module, the robot bodyis provided with a mechanical arm base, the mechanical arm is mounted on the mechanical arm base, the mechanical arm is provided with a plurality of rotating joints, one steering gear is arranged ineach rotating joint, the visual inertial navigation module is installed at the end of the mechanical arm, and the visual inertial navigation module uses a visual inertial odometer to establish a cloudmap synchronously in real time. The system adopts the visual inertial navigation module as a visual navigation and positioning system of a bionic robot, utilizes a multi-degree-of-freedom movement ofthe mechanical arm to make a robot visual system free from the limitation of the movement of the robot body so that the robot can cope with complex and varied dynamic scenes, utilizes a visual inertia SLAM technology to achieve real-time navigation and positioning functions, which makes the bionic robot have a strong human-computer interaction function, and can be applied in the various dynamic scenes.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a bionic-based robot perception control system and control method. Background technique [0002] With the rapid development of robotics technology, especially robots with robotic arms have made many breakthroughs in scenarios such as handling, grasping, and classification. This type of robot positioning and navigation technology with interactive functions with the environment has become the focus of major companies. Important issues that are competing with research institutions. Since the movement and grasping of the flying manipulator in most environments must be carried out when the robot body remains stationary or stable, this greatly limits the movement of the robot. Secondly, the positioning and navigation modules of most robots are currently fixed in the Therefore, the robot’s field of view is forced to change with the movement of the robot, which causes the robot’s...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above-mentioned technical problems, one of the objects of the present invention is to provide a bionic-based robot perception control system, aiming at the problems that the current robot positioning and navigation system is fixedly connected to the robot body, resulting in limited vision of the robot and inflexible movement of the robot body. By imitating the visual system of birds, the robot's visual navigation and positioning system is separated from the robot body, so that the robot's field of vision is not restricted by the robot's degree of freedom, and the movement of the robot body is not limited by the grasping of the robot arm.

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