Flight robot arm system based on force feedback device and VR sensing, and control method

Abstract

The invention discloses a flight robot arm system based on a force feedback device and VR sensing, and a control method. The system comprises a drone part and a ground station part, wherein the dronepart comprises a drone body, a binocular camera, an onboard computer, a robot arm, a control system and a visual label; the control system comprises a flight master and a robot arm master, the onboardcomputer and control system are installed on the drone body; the ground station part comprises a VR head display, a force feedback device and a ground station host, and the onboard computer sends a flight control command and a robot arm control command received from the ground station host to the control system. Through the VR sensing and display technology, the flight robot arm system based on the force feedback device and VR sensing, and the control method observe the stereoscopic scene in front of the drone in real time from the first angle of view, which enables to more accurately observeand locate the target object, and reduces the difficulty of the subsequent robot arm control. The force feedback device is used to control the movement of the robot arm, and the grab technology of the flight robot arm is used to adjust the position of the robot arm in real time and accurately.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a flying manipulator system and control method based on a force feedback device and VR perception. Background technique [0002] In recent years, with the rapid development of robot technology, drones have played an important role in both military applications and civilian service industries. Among the existing drone applications, drone transportation still occupies a major part, but this cannot meet the growing needs of people. Loading a robotic arm on a drone enables the robot to grasp and move objects in the environment. The combination of the two can greatly expand the application range of traditional drones, such as replacing humans in high-altitude interactive operations in complex environments. [0003] The control of UAV manipulators has become a major research hotspot, but there are also huge challenges and difficulties. One of them is to realize automatic contr...

AI Technical Summary

Problems solved by technology

In terms of target recognition, the existing flying manipulators mostly use a third-party perspective to directly observe the position of the flying manipulator and the target, and the observation accuracy and efficiency are low.

[0004] The application with the publication number CN106444810A discloses the UAV manipulator aerial operation system and its control method with the help of virtual reality. The three-axis self-stabilizing pan-tilt control command can expand the visual range of the manipulator and reduce the difficulty of controlling the pan-tilt, but at the same time it increases the size and cost of the load.

And it only uses a monocular camera to collect images, copying two identical images, and does not really realize stereoscopic vision

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