Robot Intelligent Control System based on virtual Reality - Dr. Zhang Zhu


Pick to: Based on the characteristics of virtual reality technology, this paper constructs a robot intelligent control system in virtual reality environment. EOn STUDIO is visually combined with VC++ to build a human-computer interaction platform. The system is divided into human-computer interaction system and remote control robot system, and 3DSMAX is used to build virtual scenes and robots. The wireless LAN technology based on TCP/CP protocol is used for data interaction, and EONX space is used for EON and VC++6.0 communication. The example shows that the intelligent control system of remote control robot based on virtual reality technology has high control accuracy and accurate action, which can meet the practical requirements.

Key words: virtual reality; Intelligent control; Remote operation robot; EOn STUDIO

1 the introduction

With the development of human-computer interaction and wireless sensor network information, as well as people's requirements for information services and computing power, mechanical devices incorporating artificial intelligence are continuously providing people with various services [1]. Mobile robots, as mobile nodes of intelligent environment, make use of intelligent space and sensing system for motion planning, which effectively promotes the realization of human-machine interaction [2-3]. Robots have been developed from traditional industrial robots assisting production to the direction of intelligence and emotion [4]. Therefore, effectively combining robot movement with real environment, especially in complex environment, how to improve robot control accuracy has become an important research field [5].

On the basis of relevant research, this paper establishes a human-computer interaction platform based on EOnSTUDIO and VC++ visual integrated development environment, establishes a robot intelligent control system in virtual reality environment, and designs a remote-controlled robot to realize construction operations in remote complex environment through 3DSMAX software and wireless interconnection technology.

1. Typical structure of remote-operated robot

Remote control robot, as an artificial intelligence robot widely used at present, is composed of remote control robot, operating system and connecting mechanism, as shown in Figure 1. The operating system and the remote control robot are connected by a connecting mechanism to realize instruction and task operation.

Virtual robot remote control system is a comprehensive technology based on virtual reality and graphic simulation technology. By establishing a virtual scene on the computer platform, the function mapping between virtual and real robots is realized. A complete remote control robot consists of two parts: near earth system and far earth system. The near-earth system is composed of the control platform and interactive equipment, while the far-earth system is composed of the operated object and the external input environment. The sensor signals are transmitted to the near-earth system by various sensors, CCD and other sensing units installed on the robot. According to the feedback information, the user performs operation feedback activities through the remote control operating system


FIG. 1 Control principle of remote sensing robot

2 Virtual scene construction

It turns out that the concept of virtual reality offers a range of applications for healthcare and appeals to medical practitioners by offering a variety of uses in the core areas of healthcare and therapy. Virtual reality concepts and processes can help mitigate the impact of COVID-19.

2.1 3D virtual scene modeling

3DSMAX modeling software is used to model virtual reality environments and remote control robots. 3DSMAX can provide a variety of modeling tools to achieve convenient, fast and efficient modeling. In addition, 3DSMAX software has good compatibility with EOn, which can ensure the immersion effect of model building. The working environment of the remote control robot is set as a laboratory. In order to achieve realistic effect, 3d scanning modeling is selected. The window, column, and quantity units of the basic building are built through the 3DSMAX diagram elements and families. The model family has the materials and geometric characteristic parameters of the corresponding structural members, so different types of components under the same family file can be obtained by changing the construction parameters, so as to realize the multi-directional application of the structure family. At the same time, Parameterization and digital modeling methods are provided in 3DSMAX. The same model can be modified in any view, and the obstacles, layout equipment and operation objects in the laboratory can be associated with the design. When a model is modified, its associated parts will automatically make corresponding changes. FIG. 2 is a light steel house without beam and column built by 3DSMAX software.


FIG. 2 Panel house model structure

2.2 Modeling of virtual robot

The remote control robot adopts the independently developed 5 dOF mobile robot hand, which includes the mobile carrier and 5 Dof robot. The mobile carrier is PIOnEER3H8 AT Intelligent Mobile robot. The mobile robot uses 18 MHZHITACHIH8S/2357CPU. In order to improve the data processing ability, 128KBFLASH and 32KBRAM are used. At the same time, it is equipped with 2 logical input ports, 5 logical output ports and 3 high-speed serial ports. The five-degree-of-freedom manipulator is composed of a base, a waist, a forearm, a wrist, an end working hand and a joint driving device. The mobile robot is used for monitoring, path tracking and controlling the CCD module of ARM. In addition, the robot is also integrated with a variety of sensors to realize all-round detection.

2.3 Virtual robot model of 3DSMAX

The Boolean operation in 3DSMAX is used to establish the model of the remote control robot, and the intersection, union and difference set operations are performed on the objects through the Boolean operation to obtain the new objects. In 3DSMAX software provides the intersection, union, difference set operation, through the calculation of complex model. Figure 3 is the effect diagram of the equipped five-degree-of-freedom manipulator, and the image on the left is the imported EOnSTUDIO effect diagram.


FIG. 3 Equipped with a 5-DOF manipulator

3 remote control system virtual interactive platform

3.1 Reproduction and interactive control in EOnSTUDIO

The purpose of remote control is to control the robot through intelligent interactive devices such as data gloves. Therefore, the operation and control platform of intelligent interaction segment should be established. In this paper, the virtual reality production software of American EOnREALITY is used to realize the communication between the machine and the virtual equipment. EOnSTUDIO eliminates a lot of programming compared to traditional VRML virtual reality software. With EOnSTUDIO, users can simply drag and drop nodes into the simulation tree and create logical diagrams to form corresponding behavioral changes and functional attributes. Users are more likely to handle interactive operations.

For example, in EOnSTUDIO, the model built in 3DSMAX is first imported into EOn, maps are set for the model, and video and audio effects are added. Then the model is edited. By adding nodes to the simulation tree and setting interactive attributes, the logical relationship is established to ensure the structural characteristics and motion characteristics of the model. In setting up the remote control robot virtual model in this paper, based on the robot motion analysis shows that the next level of movement joint rotation is affected by a connection on the node, such as when a joint rotation, corresponding at the next higher level and lower level joint rotation and movement, which requires the simulation tree the nodes to higher levels of joints, Overall motion is achieved by adding node and logical relation attributes.

3.2 Dynamic Control of Virtual Scenarios

In the actual use of remote control robot, the robot should have motion, steering and other functions, which can be realized through the motion nodes provided by EOnSTUDIO software.

In order to ensure the simple operation of the remote control robot, the manipulator joint arm control to select the number key to achieve, that is, the number 1 to 9 represents different functions, such as 1 control joint 1 forward, 2 control joint 1 reversal. At the same time, the lock function of each joint is established, that is, when the number key 1 is operated for the forward rotation of the manipulator, the number key 2 is locked and cannot be operated. In addition, the virtual motion structure and parameters should be consistent with the actual equipment before the robot control design. The DOF nodes on EOn ensure the accuracy of parameters. In DOF nodes, a specific coordinate system is defined to define the degree of freedom of nodes and place nodes to ensure the accuracy of structure operation and action. The freedom of the object and the movement of subsystem nodes are controlled by setting the property box. The specific node property setting is shown in the figure.

Nodes for collision detection are also provided in EOnSTUDIO. The node performs collision detection according to the hierarchical bounding box scheme, which ensures the real-time performance of virtual operation. Set the COLLISIOnOBJECTS property on the COLLIDE node to true, associate the COLLISIOnOBJECTS file in the node with the objects that might COLLIDE, and attach the ignored collisions to the IGnOREDOBJECTS file, so that if a collision occurs, the prompt will pop up. For users to make quick judgments.

4 Experimental Simulation

In this section, the virtual space control of remote-controlled robot is carried out in the simulated laboratory working scene, as shown in Figure 7. The left side of the human-computer interaction interface is the virtual interaction interface, and the upper right side is the real-time video transmission interface. Users can change the speed and direction of the device for functional operations.

When the robot has a collision, the system will give a prompt to the user, and feedback the information in front of the motion process through the laser sensor detection window of the robot, and display the general outline of the obstacle and the distance between the obstacles in the window. The visual display window of the robot uses image information to absorb physical information, and the control platform effectively avoids obstacles, as shown in Figure 8.

5 conclusion

Based on the in-depth study of broadband dual-mode fusion technology, this paper carries out the trial-production of dual imitation true test platform and the design of test method. The whole design scheme to simulate field application environment as the main direction, including environment under various working conditions and the corresponding dual-mode communication test schemes, the specific hardware architecture and efficient software design, adapt to the test of dual mode communication method, so that they can under laboratory conditions Maximize the simulation of various complex environment, communication for broadband dual mode large-scale popularization and application to lay the solid foundation.

6 References

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