Mobile robot control system and teleoperation control method of robot tail end pose

Abstract

The invention provides a mobile robot control system and a teleoperation control method of a robot tail end pose, and particularly relates to the mobile robot control system and the teleoperation control method of the robot tail end pose based on wearable binocular vision specific to a carrying multi-degree-of-freedom mechanical arm. The process of the control method is the pose of an operator gesture-the pose of a virtual gesture model-the pose of the tail end of a virtual mechanical arm-the pose of the tail end of a multi-degree-of-freedom mechanical arm; and the continuous control on the pose of the tail end of the multi-degree-of-freedom mechanical arm is realized by establishing the driving relationship of the pose of the operator gesture and the pose of the tail end of the multi-degree-of-freedom mechanical arm. Meanwhile, the following process of the tail end of the virtual mechanical arm and the virtual gesture model is displayed in a wearable virtual displayer, so that the control process is relatively intuitive so as to solve the problems that in the control process of a vehicle-mounted multi-degree-of-freedom reconnaissance system of an existing mobile reconnaissance robot, the control method is complicated, and the pose of the tail end of the vehicle-mounted multi-degree-of-freedom reconnaissance system cannot be intuitively controlled.

Description

technical field [0001] The present disclosure relates to the related technical field of remote control of a mobile robot, and in particular, relates to a control system of a mobile robot and a remote operation control method of a robot terminal pose. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] A mobile reconnaissance robot is usually composed of a mobile robot body and a vehicle-mounted reconnaissance system. It can perform various combat tasks such as close-in reconnaissance and surveillance on the battlefield, stealth raids, fixed-point clearance, nuclear, biological and chemical processing, and anti-terrorism and explosives disposal. The traditional vehicle-mounted reconnaissance system is generally composed of a camera and a two-degree-of-freedom gimbal. The control method generally realizes the pitch control of the gimbal throug...

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Problems solved by technology

[0005] In order to solve the above problems, the present disclosure proposes a mobile robot control system and a teleoperation control method for the end pose of the robot, and provides a mobile robot control system based on wearable binocular vision for a mobile robot equipped with a multi-degree-of-freedom mechanical arm. The system and the teleoperation control method of the end pose of the robot realize the continuous control of the end position and attitude of the multi-degree-of-freedom manipulator by freely wearing and taking off, so as to solve the problems existing in the control of the existing mobile reconnaissance robot vehicle-mounted multi-degree-of-freedom reconnaissance system. The problem is that the method is complicated and the end pose of the vehicle-mounted multi-degree-of-freedom reconnaissance system cannot be intuitively controlled

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