System and method for efficiently controlling robot

Abstract

The invention belongs to the technical field of program control, and discloses a system and a method for efficiently controlling a robot. The system for efficiently controlling the robot specificallycomprises a binocular stereoscopic vision module, a path planning module, a remote operation module, an upper computer control module and a communication module, wherein the binocular stereoscopic vision module is used for acquiring an image by using a camera, and a three-dimensional coordinate of an object point is calculated; the path planning module is used for finding an optimal path which isfree from collision and arrives at the target object position for the robot in a specific environment; the remote operation module is used for improving the operation efficiency and operability of therobot by using a Teleoperation and Remote Control operation mode; the upper computer control module is used for packaging each module in a program through MFC programming; and the communication module is used for completing the two-way information exchange between an upper computer and a rear lower computer. According to the system for efficiently controlling the robot, the robustness and the fault-tolerant processing of the system are effectively improved, and the operability, the operation efficiency and the operation precision degree of the robot can be improved.

Description

technical field [0001] The invention belongs to the technical field of program control, and in particular relates to a system and method for efficiently controlling a robot. Background technique [0002] At present, the existing technologies commonly used in the industry are as follows: [0003] In recent years, with the rapid development of robot technology, robots have been widely used in various fields. Various extreme environment operation robots represented by explosives removal, fire-fighting and other robotic equipment have gradually entered the application field to replace humans in many dangerous environments, such as radioactively polluted areas, areas with explosives, and various polluted environments. , Coal mines and space and other extreme environments. [0004] In foreign countries, the research on EOD robots started early and developed rapidly. The technology has become increasingly mature and has entered the practical stage. Western countries such as Brita...

AI Technical Summary

Problems solved by technology

[0020] (2) The accuracy is not high

The robot itself cannot be precisely positioned. The speed and continuity of the movement speed of the robot joints depend on the proficiency of the operator. Even if the operator is very familiar with the operation, it is difficult to achieve continuous satisfaction.

[0021] (3) Low operating efficiency

[0023] (1) At present, extreme operation robots are difficult to operate, low in intelligence, low in operation accuracy, low in operation efficiency, high in cost, and low in cost performance;

[0024] (2) The accuracy of the area matching algorithm adopted by the existing robot is not high, and it cannot be operated in real time, and has delay;

[0025] (3) The evolution speed of the existing robot path planning algorithm is slow, it is easy to fall into the local optimum, and consumes a lot of energy;

[0026] (4) The processing of existing robot vision images is relatively simple, and it is impossible to transmit and control images accurately and in real time;

[0027] (5) The traditional calibration process of the existing computer calibration method is complicated, and the calibration method based on active vision cannot be used in situations where the camera motion is unknown and uncontrollable;

[0028] (6) The existing image information acquired by the input system contains various noises and distortions, which will affect the clarity of the system image and reduce the image quality;

Images