Tele-operated robots have been extensively concerned by researchers as an important branch of robotics. In case that the object is distant from the operator, the perception and manipulation ability of human can be extended by tele-operated robots through the human-machine interface with synchronous interaction. The tele-operated robot takes charge in the tasks which are dangerous and unaccessible for human and it has been applied in a great range of fields such as radioactive area, battle scouting, space exploration etc. The key technologies of tele-operated mobile robot system are discussed in this thesis, associated with the work of troubleshooting robot in the project of Automatic Leak Detection System for Sealed Radioactive Sources. The contributions of the thesis are presented as follows: 1. With the architecture of the tele-operated mobile robot analyzed according to the requirements of troubleshooting robot for sealed radioactive sources, a multi-modes based human-robot collaborating control method was developed, and the software system was designed and implemented with object based programming method and multi-thread technology. 2. A control strategy that mobile robot works under double modes(visual guiding or visual servo mode) was presented. Under the visual guiding mode, the operator can control the robot to handle objects in complex circumstances, while under the visual servo mode, the robot can complete the object recognition, object localization and object manipulation tasks to relieve the workload of the operator. 3. By the requests of the visual servo control system, a dynamical color model based threshold segmentation algorithm was introduced, which improved the robustness of the visual servoing system by updating the color model dynamically. An image based visual seroving fuzzy control law was presented for the mobile robot, which was validated by the experiments. 4. For the mobile robot applied on flat floor, a depth information acquirement algorithm by monocular vision was given, and the monocular navigation strategy was carried out based on the algorithm. The algorithm is fast as well as simple and satisfies the requirement of the mobile robot line-following navigation task in terms of real-time and accuracy. 5. An experimental system for tele-operated mobile robot has been developed, and the key technologies of tele-operated mobile robot control system have been verified in this system. The experiments show that the tele-operated mobile robot based on the researches of this thesis features flexibility, reliability and simplicity of manipulation, and has good prospect in applications.
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