Long-time and long-distance remote control method for ground mobile robot based on double-rocker handle

Abstract

The invention relates to a long-time and long-distance remote control method for a ground mobile robot based on a double-rocker handle. A user sends a remote control instruction to the ground mobile robot through the double-rocker handle to perform motion control, wherein motion control modes comprise a manual direct control mode, a manual intervention mode and a standby mode. The manual direct control mode comprises an omni-directional direct control sub-mode and a one-way direct control sub-mode, wherein in the mode, a user directly controls the moving speed and the steering speed of the robot; the manual intervention mode comprises a speed keeping sub-mode and a temporary straight pipe sub-mode, wherein in the speed keeping sub-mode, the robot is in a speed keeping state, the user performs intervention type adjustment on a speed value, the speed value being a relative geodetic coordinate system; in the temporary straight pipe sub-mode, the user temporarily and directly controls the moving speed and the steering speed of the robot; and in the standby mode, the ground mobile robot is kept in a stationary state. The method has good usability and practicability, and is easy to popularize and transplant.

Description

Technical field [0001] The present invention relates to the field of human machine interaction, and a long-term long-distance remote control method based on the ground moving robot based on double rocker handle is given. Background technique [0002] Based on the full-directional mobile service robot based on the wheel chassis, as well as the foot-based bionic robot based on four-legged, fenced configuration, has been taken by the laboratory to human life, guided by the service, the goods transport, the plant inspection, field reconnaissance, Many fields such as exploration rescue have broad application prospects. [0003] In terms of current technology development level, real-time operation based on remote control systems is the main manifold of such ground mobile robots. Double-joystick handle from the electronic entertainment field, such as Microsoft's Xbox game handle, Sony's PS series game handle, Nintendo's Switch game handle, etc., due to its advantages in human machine en...

AI Technical Summary

Problems solved by technology

[0004] But on the other hand, in tasks that require continuous long-term manipulation, such as commanding the robot to continue moving along the road, or commanding the robot to follow the person in front of it for a long time, continuous operation of the handle without interruption can easily cause fatigue of the user's fingers , and seriously affect subsequent operations

Moreover, due to finger shaking, fatigue factors, etc., it is also difficult for users to maintain precise operations on the handle rocker for a long time, which will also limit the execution of some tasks

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