Easy-to-wear multi-connecting-rod structure teleoperation controller assisted by stereoscopic vision

Abstract

The invention discloses an easy-to-wear multi-connecting-rod structure teleoperation controller assisted by stereoscopic vision. The controller has the advantages of being reasonable in overall structure arrangement and high in practicability, the main structure can be divided into four parts including the controller body, the tripod, the foldable VR glasses and the mobile phone, and besides the mobile phone, all the parts can be folded and are convenient to carry. Meanwhile, the controller is easy to wear and debug. An operator stands or sits on the back of the controller, and two fingers ofeach hand are sleeved with the corresponding finger rings to conduct traction operation. Stereoscopic vision used by an operator for observation is displayed through a mobile phone inserted into the VR glasses, and control information of the controller is processed and transmitted through the mobile phone, so that the investment of high-performance hardware is reduced. The type selection of the remote execution unit can be allocated by a client, so that universality is further enhanced. The controller has a multi-connecting-rod mechanical structure and adopts a small-size high-precision Hall angle sensor, so that the controller has the characteristics of high precision, no site limitation and small overall size.

Description

technical field [0001] The invention relates to the technical field of remote operation control, in particular to an easy-wearable multi-link structure remote operation controller with stereo vision assistance. Background technique [0002] Teleoperation refers to long-distance human-computer interaction, which expands people's perception and behavior capabilities, and involves the interaction between humans and remote actuators and the environment. Teleoperation usually needs to collect the spatial position and posture of various parts of the operator's body. Especially for the movement of the upper limbs and the head, there are generally four types of equipment for capturing human movement information. The first type is the mouse, keyboard and touch screen operation of mobile terminals. Its advantages are easy to obtain and easy to learn. Its disadvantage is that there are fewer degrees of freedom that can be provided in parallel, so the devices that can be controlled in p...

AI Technical Summary

Problems solved by technology

The remote control handle as described in the patent [CN201721119589.2] is a remote control handle with three translation degrees of freedom and three rotation degrees of freedom. Its advantages are wear-free, high precision, and can quickly enter and leave the remote control scene. Its disadvantages are There are few controllable degrees of freedom and the operator needs to have certain operating experience to effectively control

As described in the patent [CN201110107593.8], the humanoid exoskeleton posture information collector is a collection suit worn by the user, and the human body motion information is collected through the sensor motion collection module. The advantage is that the collection has as many as 16 degrees of freedom At the same time, the acquisition accuracy is also high. The disadvantage is that the device is large in size, cumbersome to wear, and cannot quickly enter and leave the remote control scene.

The third type is a motion capture system based on inertial sensing technology, such as the patent [CN201410498731.3], which uses two methods of distributed compensation mode and unified control mode to control 17 inertial sensing nodes to collect data at the same time point. The advantage is that the collection device is small in size, easy to carry, and not limited by the site environment. The disadvantage is that it is cumbersome to wear and cumbersome to debug before use.

The fourth category is the human body motion capture device based on the optical system, such as the multi-camera synchronous acquisition unit described in the patent [CN201510130564.1], which is mainly used for real-time estimation and tracking of the three-dimensional human body motion posture. The range is not restricted by the outside world, and can quickly enter and leave the remote control scene. The disadvantage is that it has special requirements for the site, especially to prevent light interference, and has high requirements for the performance of the computing unit, and the control fineness is not ideal.

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