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Virtual pipeline dynamic obstacle avoidance control method for remote operation man-machine interaction

A technology of human-computer interaction and virtual pipeline, which is applied in the field of virtual pipeline dynamic obstacle avoidance control, can solve the problems of difficulty in guaranteeing operation safety and difficulty in using offline task planning at the same time

Active Publication Date: 2015-12-16
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the conflict between the security and operational performance of teleoperation, especially for the operational security in unknown environments, it is difficult to guarantee offline task planning and manual control at the same time.

Method used

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  • Virtual pipeline dynamic obstacle avoidance control method for remote operation man-machine interaction
  • Virtual pipeline dynamic obstacle avoidance control method for remote operation man-machine interaction
  • Virtual pipeline dynamic obstacle avoidance control method for remote operation man-machine interaction

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0088] A specific implementation example of the present invention is to design dynamic obstacles in a virtual scene, and realize dynamic obstacle avoidance at the end of the mechanical arm through visual sensors and artificial potential fields. The specific process is as follows:

[0089] 1. Construct the experimental scene:

[0090] In the experiment, the master end is a PHANTOM hand controller with 6 degrees of freedom, and the slave end is a virtual pipeline planned in the CHAI3D virtual three-dimensional space. The agent point is used to replace the end point of the mechanical arm, and the dynamic obstacle O is designed, and the position change of O is used The function f(t) expresses.

[0091] 2. The establishment of the potential field at the agent point:

[0092] By the definition of the potential field function, let η be a limiting parameter, take η=0.5 in the experiment; ρ 0 Indicates the action distance of the potential field at the end of the manipulator, ρ 0 Th...

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Abstract

The invention discloses a virtual pipeline dynamic obstacle avoidance control method for remote operation man-machine interaction. A barrier in the environment is recognized through vision, and the control capacity is designed by calculating the real-time distance with the barrier so that safety and operation performance of remote operation can be guaranteed. The application occasion is that the tail end of a manipulator dynamically avoids the barrier during space remote operation and reaches a specific location. As the space environment is uncertain or operation instability is caused by unstructured environment factors, an operator can not control or operate the tail end to reach the specific location at the expected time. Therefore, it is required that during operation, the optimal route is updated in real time while the tail end point dynamically avoids the barrier, the operation efficiency is improved, and meanwhile operation stability is guaranteed.

Description

technical field [0001] The invention belongs to the field of remote operation human-computer interaction of space robots, and relates to a virtual pipeline dynamic obstacle avoidance control method for remote operation human-computer interaction. Background technique [0002] From the beginning of the application of space robots in the 1960s to today, the application fields of space robots are constantly expanding. From the beginning, it was only necessary to complete the simple detection of the surface of the planet, and now it is necessary to complete the recovery and release of satellites, scientific experiments in the cabin, and On-orbit assembly and maintenance of space stations. At the same time, the complexity of tasks undertaken by space robots is also increasing: from repetitive operations in a structured known environment to non-repetitive operations in an unstructured unknown environment, and its precision requirements are getting higher and higher, and it is nece...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/02
CPCB25J9/1676B25J19/021
Inventor 黄攀峰潘吉祥刘正雄孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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