Teleoperation method for grasping operation of flying manipulator based on operator's intention recognition

Abstract

The invention discloses a remote operation method for grasping operations of a flying manipulator based on operator intention recognition. The system consists of a master end, a slave end and a communication link. The master end includes the operator, hand controller, eye tracker, display and control computer, and the slave end is the flying manipulator composed of the six-rotor UAV and the five-degree-of-freedom manipulator. The invention recognizes the grasping target intention by recording the operator's eye movement characteristics, thereby controlling the aircraft to approach the target to be grasped. The assisted gripping program utilizes the virtual gripper method to guide the operator through the gripping action by manipulating the hand controller. The operator of complex grasping tasks never leaves the control loop, and for simple grasping tasks, the auxiliary grasping program can also completely take over the grasping tasks and complete autonomous grasping. The invention introduces the eye movement signal and force feedback technology into the remote operation method of the grasping operation of the flying manipulator, which can reduce the difficulty of operation, reduce the cognitive load of the operator in the process of remote grasping control, and improve the grasping efficiency.

Description

technical field [0001] The invention relates to the field of teleoperation of a flying manipulator, in particular to a grasping operation control method of a flying manipulator that uses eye movement features to identify operator intentions. Background technique [0002] With the maturity of rotorcraft robot technology, object grasping and delivery has gradually become a hotspot in the research of rotorcraft. Installing a robotic arm under the rotorcraft can realize autonomous grasping when loading and unloading objects, effectively improving the degree of automation in the grasping process and improving operational efficiency. At present, the grasping methods of flying manipulators mainly focus on unilateral remote control grasping based on images returned by human eyes or visual equipment and autonomous grasping based on target object recognition. The former flying manipulator is only used as an actuator, requiring the operator to continuously adjust the attitude of the a...

AI Technical Summary

Problems solved by technology

[0004] Technical problem: In order to solve the above-mentioned existing problems, and aiming at the complex operation environment and grasping tasks, the present invention provides a flying robot arm grasping operation remote control based on the operator's intention recognition by introducing the operator's sight tracking and force feedback technology. The operation method can adapt to different difficult operation scenarios, reduce the operator's workload, and improve the efficiency of remote operation of grabbing operations

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