面向遥操作手眼协调的虚拟仿真交互控制方法

doi:10.3969/j.issn.1001-506X.2020.05.23

系统工程与电子技术 ›› 2020, Vol. 42 ›› Issue (5): 1146-1151.doi: 10.3969/j.issn.1001-506X.2020.05.23

面向遥操作手眼协调的虚拟仿真交互控制方法

刘正雄^1,^2,*(), 司继康^1,²(), 陈刚³(), 黄攀峰^1,²()

1. 西北工业大学航天学院, 陕西西安 710072
2. 西北工业大学航天飞行动力学技术重点实验室, 陕西西安 710072
3. 陕西航天机电环境工程设计院有限责任公司, 陕西西安 710100

收稿日期:2019-07-19 出版日期:2020-04-30 发布日期:2020-04-30
通讯作者: 刘正雄 E-mail:liuzhengxiong@nwpu.edu.cn;1726444326@qq.com;13325462089@163.com;pfhuang@nwpu.edu.cn
作者简介:司继康(1996-),男,硕士研究生,主要研究方向为人机交互技术。E-mail:1726444326@qq.com|陈刚(1981-),男,高级工程师,主要研究方向为电气工程及自动化、人机交互技术。E-mail:13325462089@163.com|黄攀峰(1974-),男,教授,博士,主要研究方向为空间遥操作及空间机器人学,导航、制导与控制。E-mail:pfhuang@nwpu.edu.cn
基金资助:
国家杰出青年科学基金(61725303);国家万人计划领军人才项目(w099111)

Interaction control method of virtual simulation for hand-eye coordination in teleoperation

Zhengxiong LIU^1,^2,*(), Jikang SI^1,²(), Gang CHEN³(), Panfeng HUANG^1,²()

1. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China
2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, China
3. Shaanxi Aerospace Electromechanical and Environmental Engineering Design Institute Company Limited, Xi'an 710100, China

Received:2019-07-19 Online:2020-04-30 Published:2020-04-30
Contact: Zhengxiong LIU E-mail:liuzhengxiong@nwpu.edu.cn;1726444326@qq.com;13325462089@163.com;pfhuang@nwpu.edu.cn
Supported by:
国家杰出青年科学基金(61725303);国家万人计划领军人才项目(w099111)

摘要/Abstract

摘要：

针对遥操作过程中,虚拟仿真场景的观察视角动态变化时,人机交互的易用性将严重影响操作效率的问题,提出一种面向遥操作手眼协调的虚拟仿真场景交互控制方法。通过坐标系变换的方式将遥操作运动控制指令进行映射变换后再发送给遥操作对象,实现在观察视角变化时,交互设备与虚拟显示视景中遥操作对象运动协调一致。通过Unity 3D搭建虚拟仿真场景进行实验验证,并与传统交互方式进行对比,结果表明所提方法使遥操作过程具有更高效的交互性。

关键词: 遥操作, 手眼协调, 虚拟现实, 人机交互

Abstract:

Aiming at the problem that the usability of human-computer interaction will seriously affect the operation efficiency when the viewing angle of the virtual simulation scene changes in the process of teleoperation, a virtual scene interaction control method oriented to hand-eye coordination of teleoperation is proposed. The teleoperation instructions are mapped and transformed by the coordinate system transformation, and then sent to the controlled object, so that the motion of the controlled object in the virtual display simulation scene can be coordinated with the interactive device when the viewing angel changes. The virtual simulation scene is built by Unity 3D for experimental verification, and compared with the tradition interactive mode, the results show that the proposed algorithm makes the teleoperation process more efficient and interactive.

Key words: teleoperation, hand-eye coordination, virtual reality, human and robot interaction

中图分类号:

TP391.9

刘正雄, 司继康, 陈刚, 黄攀峰. 面向遥操作手眼协调的虚拟仿真交互控制方法[J]. 系统工程与电子技术, 2020, 42(5): 1146-1151.

Zhengxiong LIU, Jikang SI, Gang CHEN, Panfeng HUANG. Interaction control method of virtual simulation for hand-eye coordination in teleoperation[J]. Systems Engineering and Electronics, 2020, 42(5): 1146-1151.

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控制方法	平均值
控制方法	操作时间/s	出错次数/次	码垛位置误差/mm
传统方法	156.14	5.6	1.31
手眼协调	114.53	1.3	0.74

控制方法	平均值
控制方法	操作时间/s	出错次数/次	码垛位置误差/mm
传统方法	139.45	5.2	1.14
手眼协调	101.38	0.9	0.62

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面向遥操作手眼协调的虚拟仿真交互控制方法

Interaction control method of virtual simulation for hand-eye coordination in teleoperation

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