Environment fusion system and method suitable for man-machine interaction operation of underwater remote control robot

An underwater robot and human-computer interaction technology, applied in the field of environmental fusion systems, can solve the problems of reduced operating efficiency and accuracy, operator fatigue and tension, etc.

Inactive Publication Date: 2021-05-18
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This master-slave remote control operation method only focuses on the realization of the control function, and requires the operator to concentrate on the operation, which usually makes the operator feel tired and tense, and the operating efficiency and accuracy are reduced.

Method used

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  • Environment fusion system and method suitable for man-machine interaction operation of underwater remote control robot
  • Environment fusion system and method suitable for man-machine interaction operation of underwater remote control robot
  • Environment fusion system and method suitable for man-machine interaction operation of underwater remote control robot

Examples

Experimental program
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Effect test

Embodiment 1

[0034] see Figure 1 ~ Figure 2 , an environment fusion system suitable for human-computer interaction operations of underwater remote control robots, including a mother ship, a computer, a display, an RGB-D camera, a three-dimensional electronic compass, an underwater robot and a manipulator, and an umbilical cable. The RGB-D camera is mounted on On the body cabin of the underwater robot, the three-dimensional electronic compass is mounted in the body cabin of the underwater robot; Attitude data, scene RGB-D images; monitors are used to display computer-generated virtual robots and manipulators, and background RGB-D images of operating scenes; umbilical cables are used to transmit commands and data between computers and underwater manipulators. In the process of man-machine interaction, the system of the present invention continuously repeats the fifth to eighth steps above, so that the virtual robot and manipulator are always integrated with the RGB-D image of the underwater...

Embodiment 2

[0036] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0037]This embodiment is suitable for the environment fusion system of the human-computer interaction operation of the underwater remote control robot, as follows:

[0038] (1) A virtual robot and manipulator exactly the same as the underwater physical robot and manipulator are constructed in the computer in the operating cabin of the mother ship, and are displayed on the screen for the operator to watch during operation. The operator can interact with the virtual robot and manipulator on the screen in various ways;

[0039] (2) The body cabin of the underwater robot is equipped with an RGB-D three-dimensional camera to obtain a two-dimensional image of the underwater operating environment and a three-dimensional point cloud image of the scene, i.e. an RGB-D image, and simultaneously move the underwater robot arm horizontally Stretch to the longest limit position to ensure...

Embodiment 3

[0048] This embodiment is basically the same as the above-mentioned embodiment, and the special features are as follows:

[0049] An environment fusion method suitable for the human-computer interaction operation of the underwater remote control robot is operated, and the operation steps are as follows:

[0050] Step 1: Turn on the equipment, including the computer, display screen, underwater physical robot and manipulator, RGB-D camera, and 3D electronic compass, to ensure that the equipment is normal, and the virtual robot that is exactly the same as the underwater physical robot and manipulator is displayed on the screen and manipulators. The operator can interact with the virtual robot and manipulator in various ways;

[0051] Step 2: Extend the underwater manipulator horizontally to the longest position. The RGB-D three-dimensional camera is installed on the body of the underwater robot to obtain part of the manipulator—the forearm and the grasping part and two-dimension...

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PUM

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Abstract

The invention provides an environment fusion system and method suitable for man-machine interaction operation of an underwater remote control robot. The system comprises a mother ship, a computer, a display, an RGB-D camera, a three-dimensional electronic compass, an underwater robot, a manipulator and an umbilical cable. According to the method, a virtual robot and a manipulator which are completely the same as an underwater entity robot and a manipulator are constructed in a computer and are displayed on a screen. An RGB-D three-dimensional camera is carried on a cabin of the underwater robot body to obtain a two-dimensional image of an underwater working environment and a scene three-dimensional point cloud RGB-D image, and the two-dimensional image and the scene three-dimensional point cloud RGB-D image serve as backgrounds to be displayed on a screen. In the man-machine interaction operation process, the position and posture of the virtual robot and the joint angle of the mechanical arm are continuously adjusted, so that the virtual robot and the mechanical arm are always fused with the RGB-D image of the underwater operation environment, and man-machine interaction control over the underwater remote control robot is achieved.

Description

technical field [0001] The invention belongs to the field of underwater robot operation, in particular, relates to the operation control of an underwater remote-controlled robot (Remotely Operated Vehicle, referred to as ROV) manipulator, and more specifically relates to an environment fusion suitable for human-computer interaction of an underwater remote-controlled robot systems and methods. [0002] technical background [0003] There are many types of underwater robots, but the vast majority of operational underwater robots are ROV (Remotely Operated Vehicle), and the robot body cabin is equipped with a manipulator as a general operating tool. At present, the ROV manipulator is controlled by the operator on the mother ship according to the video image transmitted by the umbilical cable. There are two types of control operations: switch type and master-slave type. At present, the master-slave type is widely used, which consists of a master hand and a slave hand. The master...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T19/00
CPCG06T19/006
Inventor 屠大维阮豪斌张旭
Owner SHANGHAI UNIV
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