A bionic-based robot perception control system and control method

Abstract

The invention discloses a bionic-based robot perception control system and control method, comprising a robot body, a robot arm and a visual-inertial navigation module. The robot body is provided with a robot arm base, and the robot arm is installed on the robot arm base. There are multiple rotary joints, and a steering gear is installed in each rotary joint. The visual-inertial navigation module is installed at the end of the mechanical arm. The visual-inertial navigation module uses the visual-inertial odometer to establish a cloud map in real time. The invention uses the visual-inertial navigation module as the visual navigation and positioning system of the bionic robot, uses the multi-degree-of-freedom movement of the mechanical arm to make the robot visual system get rid of the limitation of the robot body movement, and enables the robot to cope with complex and changeable dynamic scenes. SLAM technology realizes real-time navigation and positioning functions, so that bionic robots have strong human-computer interaction functions and can be applied in various dynamic scenarios.

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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