The invention discloses a flying mechanical arm grabbing operation teleoperation method based on operator intention recognition. A system is composed of a master end, a slave end and a communication link. The master end comprises an operator, a hand controller, an eye tracker, a display and a control computer, and the slave end is a flying mechanical arm composed of a six-rotor unmanned aerial vehicle and a five-degree-of-freedom mechanical arm. Target grabbing intention recognition is carried out by recording the eye movement characteristics of the operator, so that the aircraft is controlled to approach a target to be grabbed. An auxiliary grabbing program guides the operator to complete the grabbing action by operating the hand controller through a virtual clamp method. For a complex grabbing task, the operator is not separated from a control loop all the time, and for a simple grabbing task, the auxiliary grabbing program can also completely take over the grabbing task, and autonomous grabbing is completed. The eye movement signal and the force feedback technology are introduced into the remote operation method for the grabbing operation of the flying mechanical arm, the operation difficulty can be reduced, the cognitive load of the operator in the remote grabbing control process is relieved, and the grabbing efficiency is improved.

    本发明公开了基于操作员意图识别的飞行机械臂抓取作业遥操作方法,该系统由主端、从端和通讯环节组成。主端包括操作员、手控器、眼动仪、显示器和控制计算机,从端为由六旋翼无人机和五自由度机械臂组成的飞行机械臂。本发明通过记录操作员的眼动特征进行抓取目标意图识别,从而控制飞行器接近待抓取目标。辅助抓取程序利用虚拟夹具方法引导操作员通过操纵手控器完成抓取动作。复杂抓取任务操作员始终不脱离控制回路,而对于简单抓取任务,辅助抓取程序也可完全接管抓取任务,完成自主抓取。本发明将眼动信号和力反馈技术引入飞行机械臂抓取作业遥操作方法中,可以降低操作难度,减轻操作员在远程抓取控制过程中的认知负荷,提高抓取效率。


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    Title :

    Flying mechanical arm grabbing operation teleoperation method based on operator intention recognition


    Additional title:

    基于操作员意图识别的飞行机械臂抓取作业遥操作方法


    Contributors:
    SONG GUANGMING (author) / GU YUE (author) / SONG AIGUO (author) / CHEN GANG (author) / HAO SHUANG (author)

    Publication date :

    2021-06-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B64C AEROPLANES , Flugzeuge



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