Electrified operation robot remote operator training system and method based on point cloud

Abstract

The invention discloses an electrified operation robot remote operator training system and method based on point cloud. The electrified operation robot remote operator training system comprises a depth camera, an industrial personal computer, a main mechanical arm remote operating rod and an auxiliary mechanical arm remote operating rod, wherein the main mechanical arm remote operating rod and theauxiliary mechanical arm remote operating rod are connected with the industrial personal computer and provided with a powerful feedback function. The method comprises the following steps of modelingan object in an electrified operating environment by the industrial personal computer, and storing a model into a model library of the industrial personal computer; acquiring the cloud information ofthe actual operating environment by the depth camera, and combining the model library to realize rapid three-dimensional reconstruction of an actual operation scene; a remote operator operates a mainmechanical arm remote operation rod with a force feedback function and an auxiliary mechanical arm remote operation rod, the industrial personal computer controls a virtual mechanical arm to perform corresponding movement according to the speed and direction of the tail end of the remote operation rod with the powerful feedback function, and a corresponding feedback operation result is sent to theremote operator. According to the electrified operation robot remote operator training system and method, the trained person has the force tele-presence, the effectiveness of training is improved, and direct operation is avoided, and the actual mechanical arm is prevented from being damaged.

Description

technical field [0001] The invention belongs to the field of remote operator training of live working robots, in particular to a system and method for remote operator training of live working robots based on point clouds. Background technique [0002] With the vigorous development of robot technology, the application of robots in modern production and life is becoming more and more extensive. At present, my country's high-voltage live work still uses the insulating glove method, requiring operators to climb high-voltage iron towers or carry out live work with the help of insulating bucket trucks. In order to avoid casualty accidents during live work, it is of great practical significance to use live work robots instead of manual power maintenance and repair work. However, the unstructured live working environment makes it difficult for the live working robot to achieve complete autonomous operation, and it still requires the operator to cooperate with the robot to complete ...

AI Technical Summary

Problems solved by technology

However, the unstructured live working environment makes it difficult for the live working robot to achieve complete autonomous work, and operators still need to cooperate with the robot to complete the live working task.

[0003] Since the robot needs to carry out live work at high altitude, the operator can only use the image captured by the plane camera to perform remote operation and control the movement of the robotic arm. The visual difference caused by the plane image puts forward extremely high requirements for the operator.

If the operation error causes the robot arm to collide with the surrounding obstacles, it will cause irreversible damage to the robot arm

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