基于虚拟现实技术的移动机器人视觉伺服控制系统设计

Design of visual servo control system for mobile robot based on virtual reality technology

摘要:

为了有效确保移动机器人视觉伺服控制效果,提高移动机器人视觉伺服控制精度,设计了基于虚拟现实技术的移动机器人视觉伺服控制系统。通过三维视觉传感器和立体显示器等虚拟环境的I/O设备、位姿传感器、视觉图像处理器以及伺服控制器元件,完成系统硬件设计。从运动学和动力学两个方面,搭建移动机器人数学模型,利用标定的视觉相机,生成移动机器人实时视觉图像,通过图像滤波、畸变校正等步骤,完成图像的预处理。利用视觉图像,构建移动机器人虚拟移动环境。在虚拟现实技术下,通过目标定位、路线生成、碰撞检测、路线调整等步骤,规划移动机器人行动路线,通过控制量的计算,实现视觉伺服控制功能。系统测试结果表明,所设计控制系统的位置控制误差较小,姿态角和移动速度控制误差仅为0.05°和0.12m/s,移动机器人碰撞次数较少,具有较好的移动机器人视觉伺服控制效果,能够有效提高移动机器人视觉伺服控制精度。

Abstract:

In order to effectively ensure the visual servo control effect of mobile robots and improve the accuracy of visual servo control, a visual servo control system for mobile robots based on virtual reality technology was designed. Complete the hardware design of the system through I/O devices, pose sensors, visual image processors, and servo controller components in virtual environments such as 3D visual sensors and stereoscopic displays. From the aspects of kinematics and dynamics, build the mathematical model of mobile robot, use the calibrated visual camera to generate the real-time visual image of mobile robot, and complete the image preprocessing through image filtering, distortion correction and other steps. Utilize visual images to construct a virtual mobile environment for mobile robots. Under virtual reality technology, the action route of mobile robots is planned through steps such as target positioning, route generation, collision detection, and route adjustment. Through the calculation of control variables, visual servo control functions are achieved. The system testing results show that the designed control system has small position control errors, with attitude angle and movement speed control errors of only 0.05 ° and 0.12m/s. The mobile robot has fewer collisions and has good visual servo control effect, which can effectively improve the visual servo control accuracy of the mobile robot.