Interactive control method oriented to teleoperation hand-eye coordination

Abstract

The invention discloses an interactive control method oriented to teleoperation hand-eye coordination, which is used for solving the technical problem that an existing human-computer interaction control method is poor in practicability. The technical scheme is based on conversion of a coordinate system, when an operator controls a scene object to move through the exchange equipment, firstly, the pose of the scene object is converted into a camera coordinate system from a world coordinate system, then a new camera coordinate system pose coordinate is obtained according to expected movement andthe feeding amount of the interactive equipment in a camera coordinate system, finally converting the newly-obtained pose coordinates into the world coordinate system through the camera coordinate system so as to control the actual movement of the scene object. According to the interactive control method, the hand-eye coordination in the remote operation process is realized, that is, the movementof the scene object in the process of interactive operation is not influenced by the observation scene view angle change of an operator, the movement of the scene object is consistent with the movement of the interactive equipment, the method reduces the teleoperation difficulty and is good in practicability.

Description

technical field [0001] The invention relates to a human-computer interactive control method, in particular to an interactive control method oriented to hand-eye coordination of remote operation. Background technique [0002] The document "Master-Slave Control Strategy for Teleoperation Robot System, Journal of Jiangsu University of Science and Technology (Natural Science Edition), 2013, Vol27(8), p643-647" discloses a control method for a master-slave teleoperation robot system. This method adopts an incremental position control method to control the movement of the slave hand with the increment of the master hand, which effectively avoids the cumbersome initial return to the origin. When the operator directly observes the operated environment information and when the operator observes the operated environment information through the image device, the position correspondence between the master and the slave is different. By adjusting the proportional control gain matrix, the...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of poor practicability of existing human-computer interaction control methods, the present invention provides an interactive control method oriented to hand-eye coordination of remote operation

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