Robot teleoperation system and method based on visual positioning and virtual reality technology

• Main Authors: NIU YIFAN, ZHAO WEI, LONG HUIWU, ZHU LIN, XIAO JULIANG, LIN ZI'AO
• Format: Patent
• Language: Chinese; English
• Published: 23.02.2024
• Subjects: CALCULATING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; HAND TOOLS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MANIPULATORS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a robot teleoperation system based on visual positioning and virtual reality technology, which comprises a robot, a depth camera and a scene reconstruction system in a remote space, and is characterized in that the robot comprises a robot control system and a robot execution system; the virtual reality equipment and the virtual engine are located in a local operation space; the scene reconstruction system generates a remote robot working scene; the virtual engine is connected with the virtual reality head-mounted display and the handheld controller, generates a virtual robot according to an actual robot size, and generates an initial virtual robot working space based on three-dimensional point cloud information of a remote robot working scene and initial pose data of a robot working object; and according to a control signal of the handheld controller, the pose of the virtual robot and the working space of the virtual robot are correspondingly changed. According to the invention, three-