Space robot teleoperation system based on three-dimensional gestures

A space robot and operating system technology, applied in general control systems, control/adjustment systems, instruments, etc., can solve problems such as hindering the operator's hand movements, and achieve the effect of increasing the sense of presence and improving safety

Active Publication Date: 2017-02-22
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of equipment includes electromagnetic tracking equipment, inertial sensors, data gloves, etc. These are all contact sensors, and the disadvantage is obvious, that is, it will hinder the operator's normal hand movements

Method used

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  • Space robot teleoperation system based on three-dimensional gestures
  • Space robot teleoperation system based on three-dimensional gestures
  • Space robot teleoperation system based on three-dimensional gestures

Examples

Experimental program
Comparison scheme
Effect test

example

[0091] system software

[0092] a gesture interaction subsystem software

[0093] Gesture interaction subsystem software includes gesture acquisition software and gesture processing software. The gesture acquisition software runs on a tablet computer in one copy, connects with Leap Motion, and runs on Windows 7 operating system and leap SDK software driver environment. Gesture processing software in one copy, running on Windows 7 operating system and OpenScenegraph software support environment.

[0094] b predictive simulation subsystem software

[0095] The predictive simulation subsystem software runs in a separate computer in one copy, and performs simulation based on OpenSceneGraph, including 3D display function, fast collision detection algorithm library, collision detection, safety warning, dynamics simulation and other modules. The software is programmed based on OpenGL and MFC software library and runs on Windows 7 operating system.

[0096] c information managemen...

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PUM

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Abstract

The invention discloses a space robot teleoperation system based on three-dimensional gestures. The space robot teleoperation system comprises a gesture interaction sub-system, a predication simulation sub-system and an information management sub-system, wherein the gesture interaction sub-system is used for collecting and preprocessing human gesture information through gesture collecting equipment; the prediction simulation sub-system is connected with the gesture interaction sub-system, and is used for checking the legality of a teleoperation command sent from the gesture interaction sub-system, monitoring the current status data of a space robot, predicting the next status of the space robot through dynamical simulation and carrying out three-dimensional real-time display on the prediction status and current status of the space robot through a three-dimensional display module; the information management sub-system is connected with the prediction simulation sub-system, and uploading of the teleoperation command and downloading of monitoring status data are realized through communication between a ground station and the space robot. By using the system, the space robot can be accurately controlled to complete a series of tasks such as on-orbit maintenance, on-orbit module replacement and on-orbit fuel adding in real time.

Description

technical field [0001] The invention relates to space robot teleoperation technology, in particular to a space robot teleoperation system based on three-dimensional gestures. Background technique [0002] With the continuous development of human space activities, it is foreseeable that a large number of space production, space processing, space assembly, space maintenance and repair work will need to be carried out in the future. Due to the danger of the space environment and the high cost of astronaut life support, robots have played an increasingly important role in the aerospace field. However, due to the limitations of supporting technologies such as mechanism, control, sensing and artificial intelligence, the development of intelligent robots that can work autonomously in unknown or complex environments is an unattainable goal in the short term. Therefore, it is a more realistic choice to make full use of the existing technology and develop a telerobotics system that n...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12G05B17/02B25J3/00
CPCB25J3/00G05B17/02G05D3/12
Inventor 朱晓俊王学谦梁斌刘厚德李成陈章
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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