Teleoperation attitude tracking estimation system and method

Abstract

The invention relates to the technical field of robot digital twinning, in particular to a teleoperation attitude tracking estimation system and method which are applied to a complex environment. The system comprises a teleoperation mechanical arm, a motion capture system, a signal generator and at least three industrial cameras; the three industrial cameras are simultaneously connected with an external trigger signal device through signal lines, the motion capture system is in communication connection with the industrial cameras and cooperates with the industrial cameras to carry out three-dimensional attitude data acquisition, and visual marks are designed on the teleoperation mechanical arm; the motion capture system carries out image data acquisition, image data processing, data collection and production, data training iteration, data model storage and output to generate a coordinate system, so virtual environment 3D construction of an objective environment where the mechanical arm is located is determined; when a carrying task is not suitable for being operated by workers on site personally, a virtual 3D reconstruction model environment for a real objective environment is provided to assist operators in completing work, so the working efficiency is improved, and the possibility of collision is reduced.

Description

technical field [0001] The invention relates to the technical field of robot digital twins, in particular to a system and method for tracking and estimating teleoperation gestures applied in complex environments. Background technique [0002] Traditional teleoperation technology will be affected and limited by various objective environmental parameters in a complex environment. For example, in a neutron flow environment, it will be subject to the following limitations: (1) Traditional sensors such as distance sensors, angle sensors, etc. Sensors and force sensors will release a large number of α, β, γ rays and neutrons during operation in a neutron flow environment, resulting in instantaneous failure of teleoperated robot sensors, electronic devices, and signal transmission systems. (2) In the fully enclosed nuclear environment, the remote operator can only observe the operation with the naked eye through the observation window, and the visual error caused by the refraction ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for tracking and estimating the posture of remote operation in a complex environment. When the handling task is not suitable for the workers to operate on site, it provides a virtual 3D reconstruction model environment for the real objective environment to assist Operators get the job done, increasing productivity and reducing the likelihood of collisions

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