Autonomous Task Control System for Tele-operation Construction Robot Based on Trinocular Stereo Vision Technology

摘要

In order to enhance the autonomy of tele-operation construction robot (TOCR),a complete autonomous task control system of TOCR based on stereo vision technology is established. Firstly, the automation recognition and space location technology of the target object were studied by installing trinocular stereo camera and image processing. Secondly, the forward kinematics and reverse kinematics equations, trajectory planning and control were researched. In order to make the autonomous movement smoothly,on the one hand, the function of the trajectory must be continuous and smooth,and on the other hand, the expectation joint displacement and velocity would be obtained by the forward kinematics equation. Finally, the experiments of the autonomous task control were earned out on the TOCR test-bed,and the experiment results indicate that the autonomous task control system of TOCR based on the stereo vision technology have preliminarily been able to complete their task reliably and safely,and the task process is smooth.