Virtual-real combination and man-machine interaction underwater remote control robot manipulator operation system and method

A technology of human-computer interaction and underwater remote control, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., which can solve the problems of reduced operating efficiency and accuracy, and operator fatigue and tension, so as to ensure operating accuracy and reduce the difficulty of operation control , the effect of convenient operation

Pending Publication Date: 2021-07-23
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This master-slave remote control operation method only focuses on the realization of the control function, which requires the operator to concentrate on the operation, which usually makes the operator feel tired and tense, and reduces the operating efficiency and accuracy.

Method used

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  • Virtual-real combination and man-machine interaction underwater remote control robot manipulator operation system and method
  • Virtual-real combination and man-machine interaction underwater remote control robot manipulator operation system and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] see figure 1 with figure 2 , the underwater remote control robot manipulator operation system combining virtual reality and human-computer interaction, including mother ship, computer, display, three-dimensional somatosensory camera, underwater robot, manipulator and umbilical cable. It is characterized in that: the computer, display and three-dimensional somatosensory camera are placed in the operating cabin of the mother ship, and the underwater robot and manipulator are placed in the underwater operating environment through the umbilical cable. The three-dimensional somatosensory camera is placed above the operator's head to capture the body movements of the operator's arms and hands; the monitor is used to display the virtual manipulator generated by the computer; the computer captures the operator's body movements to obtain the operator's operation intention, and The virtual manipulator is displayed on the screen for the operator to watch while watching the opera...

Embodiment 2

[0031] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0032] In this embodiment, an underwater remote control robot manipulator operation system that combines virtual reality and human-computer interaction is specifically as follows:

[0033](1) Construct a virtual manipulator exactly the same as the underwater entity manipulator in the computer, and display on the screen, for the operator to watch when working; the underwater entity manipulator sends the actual angle data of its joints to the computer through the umbilical cable, After the computer receives the joint angle data of the physical manipulator, it changes the joint angle of the virtual manipulator displayed on the screen to be completely consistent with the joint angle of the physical manipulator.

[0034] (2) The operator looks at the virtual manipulator on the screen, uses his arm and hand to grasp, and sends the virtual manipulator an action command of stretchi...

Embodiment 3

[0038] This embodiment is basically the same as the above-mentioned embodiment, and the special features are as follows:

[0039] In this embodiment, an underwater remote control robot manipulator operation method combining virtual reality and human-computer interaction adopts the above-mentioned system for operation, and is characterized in that the operation steps include:

[0040] The first step is to turn on the equipment, including the computer, display screen, 3D somatosensory camera, and underwater physical manipulator, to ensure that the equipment is normal, and the 3D graphics that are exactly the same as the underwater physical manipulator are displayed on the screen as a virtual manipulator;

[0041] In the second step, the operator is located in the operation cabin of the mother ship, looks at the virtual manipulator on the screen, and makes operation intentions such as arm stretching, moving left and right, and grasping the hand according to the operation task. The...

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Abstract

The invention provides virtual-real combination and man-machine interaction underwater remote control robot manipulator operation system and method. The system comprises a mother ship, a computer, a display, a three-dimensional somatosensory camera, an underwater robot, a manipulator and an umbilical cable. A virtual manipulator which is completely the same as the underwater entity manipulator is constructed and displayed on a screen, the three-dimensional somatosensory camera is used for capturing limb actions of arms and hands of an operator, the action intention is reflected to the virtual manipulator on the screen, the virtual manipulator is caused to stretch back and forth, move left and right and grasp, and the joint angle of the virtual manipulator is caused to change. The steps from the second step to the fourth step are continuously repeated till the operation task is completed. According to the underwater remote control robot manipulator operation method, the operation difficulty of the operator is reduced, the operation efficiency and the operation precision are improved, and the operation method has obvious advantages compared with an original method.

Description

technical field [0001] The present invention relates to a control method of an underwater robot manipulator, specifically, an underwater remote control robot manipulator operating system and method with combination of virtual reality and human-computer interaction, which is applied to underwater remote control robots (Remotely Operated Vehicle (ROV for short) is a kind of control operation of manipulator. Background technique [0002] In recent years, with the gradual increase in the development of marine resources, underwater robots have been widely used in underwater operations such as underwater engineering, marine oil and gas resource development, deep-sea biological and mineral investigation, and deep-sea salvage. There are many types of underwater robots, but the vast majority of operational underwater robots are ROV (Remotely Operated Vehicle), and the robot body is equipped with a manipulator as a general operating tool. At present, the ROV manipulator is controlled...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 屠大维胡浙瑜张旭
Owner SHANGHAI UNIV
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