基于传感器融合技术的机器人远程控制系统设计

Design of Robot Remote Control System Based on Sensor Fusion Technology

摘要:

结合数据融合技术与无线传输技术,提出了一种基于传感器融合的机器人远程控制系统设计方法。机器人端采用FMCE毫米波雷达与摄像机进行多传感器融合,机器人端与远程PC端采用局域网进行通信,本地PC端对机器人进行远程控制时功能主要有两个,第一个是根据现场作业环境实时控制机器人移动,第二个是在PC端选择目标对象后让机器人生成行驶路径后自动跟踪目标对象,路径跟踪控制器采用的是线性二次型调节器(LQR),这种基于传感器融合的机器人远程控制系统设计方法,具有高效、智能、可靠、精确等优点,可以应用于各种需要机器人协助完成的任务中,如无人巡检、智能交通等领域。

Abstract:

Combining data fusion technology and wireless transmission technology, this paper proposes a design method for robot remote control system based on sensor fusion. The robot side uses FMCE millimeter-wave radar and camera for multi-sensor fusion, and the robot side and the remote PC end use LAN for communication. There are two main functions when the local PC terminal remotely controls the robot. The first is to control the movement of the robot in real time according to the on-site operating environment. The second is to let the robot automatically track the target object after selecting the target object on the PC side after generating the driving path. The path tracking controller uses a linear quadratic regulator (LQR). This design method for a remote-controlled robot system based on sensor fusion has many advantages such as high efficiency, intelligence, reliability, and precision. It can be applied to various tasks that require robots to assist, such as unmanned inspection and intelligent transportation.