AUTONOMOUS OPERATION METHOD FOR LIVE WORKING ROBOT BASED ON MULTI-SENSOR INFORMATION FUSION

摘要

An autonomous operation method for a live working robot based on multi-sensor information fusion. The live working robot comprises an operation system and a monitoring system. The operation system comprises a first mechanical arm (43), a second mechanical arm (44), an auxiliary mechanical arm (42), a specialized mechanical arm tool box (47), and a first industrial personal computer (48). The monitoring system comprises binocular cameras (45), a panoramic camera (41), depth sensors, a second industrial personal computer, and a display. The binocular cameras are respectively mounted at the tail ends of the first mechanical arm, the second mechanical arm, and the auxiliary mechanical arm. The panoramic camera is used for monitoring an operation scene. There are multiple depth sensors used for obtaining depth image information of the operation scene. The second industrial personal computer and the display are mounted on an insulated bucket truck. According to the method, not only information of an operation target and a relationship between the operation target and the mechanical arms, but also information of relationships among the mechanical arms can be obtained, thereby facilitating the monitoring and protection of collisions between the mechanical arms and the target and among the mechanical arms.