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UAV (unmanned aerial vehicle) fleet bilateral remote control system and method thereof based on vision and force sense feedback

A technology of teleoperation control and force feedback, applied in two-dimensional position/channel control, etc., can solve problems such as UAV mutual collision, information interaction, obstacle avoidance, etc., to reduce burden, improve control ability, and avoid information interaction and processing Effect

Active Publication Date: 2015-09-30
SOUTHEAST UNIV
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Problems solved by technology

[0004] Purpose of the invention: In view of the problem in the prior art that UAV groups are difficult to realize formation navigation through completely autonomous control in complex and changeable environments, the present invention provides a UAV group bilateral teleoperation control system and method based on visual and force feedback , which effectively solves the problems of obstacle avoidance, mutual collision between UAVs and information interaction in the process of UAV group formation navigation

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  • UAV (unmanned aerial vehicle) fleet bilateral remote control system and method thereof based on vision and force sense feedback
  • UAV (unmanned aerial vehicle) fleet bilateral remote control system and method thereof based on vision and force sense feedback
  • UAV (unmanned aerial vehicle) fleet bilateral remote control system and method thereof based on vision and force sense feedback

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Embodiment Construction

[0029] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0030] see figure 1 As shown, the UAV group bilateral teleoperation control system based on visual and force feedback includes a master terminal 1, a slave terminal 3 and a communication module 2, and the master terminal 1 includes a hand controller 11 and a control computer 12 connected to each other. The hand controller 11 includes a force feedback haptic device, which has 3 position degrees of freedom, 3 joint degrees of freedom and 3 position degrees of freedom force feedback output, and is used to move according to the operator's operation and output position information to the control computer 12; The control computer 12 outputs control signals according to the position information sent by the hand controller 11; the slave terminal 3 includes a UAV virtual agent point 31, a UAV32 group, a distance sensor 33, an image acquisition module 3...

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Abstract

The invention discloses a UAV (unmanned aerial vehicle) fleet bilateral remote control system and method thereof based on vision and force sense feedback. The system comprises a master end, a slave end and a communication module, wherein the master end comprises a hand controller and a control computer, the slave end comprises a UAV virtual proxy point, a UAV fleet, a distance sensor and an image acquiring module. An operator can control all virtual structural points by the single hand controller, and the virtual structural points and the UAV adopt bidirectional tracking mechanism to control formation movement of the UAV fleet. When the UAV fleet encounters environment obstacles, force feedback signals are provided for the UAV to change posture and control change of fleet formation on one hand and for the master end so that the operator can obtain force sense immediacy sense on the other hand. Meanwhile, cameras are installed on each UAV, vision ranges of the cameras can be adjusted by a steering engine, overall view of the slave end can be provided for the operator, and finally the operator can obtain the force sense and the vision immediacy sense at the same time.

Description

technical field [0001] The invention relates to the technical field of bilateral remote operation control of unmanned aerial vehicles, in particular to a bilateral remote operation control technology of an unmanned aerial vehicle group using visual and force feedback. Background technique [0002] For complex tasks and changing working environments, the coordination and collaboration of multiple robots can accomplish tasks that cannot or are difficult to complete with a single robot. Multi-UAV (Unmanned Aerial Vehicles, UAVs) cooperative formation flight can significantly improve the operational capabilities of UAVs, broaden its scope of use, and complete formation, aerial reconnaissance and handling tasks more safely and reliably. [0003] However, when the task becomes extremely complex and requires high-level cognition-based online decision-making, the fully autonomous control of multi-robots is still far from the mission goal. In this case, on the one hand, it is necess...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 宋光明孙慧玉张颖宋爱国
Owner SOUTHEAST UNIV
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