Vision-Guided Dual-Arm Teleoperation With Infrared Pose Tracking
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Solution Overview
Problem
Traditional robotic teleoperation systems lack intuitive and accurate methods for converting an operator's intentions into precise control signals, particularly for dual arm and hand robots, leading to cumbersome and difficult operations.
Innovation Solution
A method utilizing infrared positioning technology with optical locators and operation gloves to calculate spatial transformation poses, enabling accurate and flexible human-machine interaction for real-time teleoperation of dual arm and hand robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional image detection methods are used to calculate spatial transformation pose, then the system can obtain pose information, but the calculation accuracy and speed are insufficient
Solution Approach 1:
The patent replaces traditional image detection methods with infrared positioning technology. The optical locator captures infrared signals from reflective markers to directly obtain spatial coordinates, eliminating the need for complex image processing and feature extraction. This substitution of detection mechanism significantly improves both accuracy and calculation speed of pose estimation.
Solution Approach 2:
The patent introduces reflective markers as intermediaries between the optical locator and the robotic hand. These markers serve as mediating elements that emit infrared signals, enabling the optical locator to directly measure the hand's pose without complex visual processing. The markers act as a bridge that simplifies the measurement process while improving precision and speed.
2Ease of operation
If traditional interaction devices like remote controllers and joysticks are used, then the system can transmit control signals, but the operation is cumbersome and difficult to understand
Solution Approach 1:
The patent uses operation gloves equipped with sensors that copy the operator's hand gestures and movements. The gloves capture the spatial pose and finger configuration of the operator's hand, creating a direct digital replica of their intent. This copying approach eliminates the need for abstract control interfaces like joysticks, making the interaction more intuitive and natural.
Solution Approach 2:
The system implements real-time feedback by continuously monitoring the operator's hand movements through the optical locator and sensor gloves, then translating these movements into robotic arm commands. The feedback loop ensures that the robot responds intuitively to the operator's gestures, improving ease of operation while maintaining manageable system complexity through automated translation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method provides a more accurate, flexible, and rapid calculation of target poses, allowing for simpler, clearer, and more intuitive human-machine interaction, enabling the dual arm and hand robot to imitate complex human movements.
Implementation Method 1
a method of calculating spatial transformation pose using infrared positioning technology is more accurate, flexible, and rapid. Spatial pose transformation equations are provided by using an optical locator to identify position information of reflective marker balls
Data Source
AI summary
The present invention relates to the field of robotic arm teleoperation technology, and specifically to a construction method and system for real-time teleoperation of a dual arm and hand robot based on vision guidance, which includes setting up a first experimental platform, acquiring pose information of the dual arm and hand robot and a homogeneous transformation matrix of an end joint and transforming a first coordinate system; setting up a second experimental platform; performing calibration by a plurality of cameras and transforming a second coordinate system; obtaining spatial transformation pose information of the end joint of the robotic arm under a tracking state, reading finger pose data, and performing real-time following. The real-time teleoperation system of the present disclosure includes a control system host, an operation glove, an optical locator, a positioning coordinate plate, a marker ball tool, and a dual arm and hand robot. The present disclosure introduces a method of identifying the marker ball tool by the optical locator into the teleoperation control of the dual arm and hand robot, which is more accurate and faster. Meanwhile, the method of remotely controlling the robotic arm by an operator wearing the operation gloves can provide better human-machine interaction function.