CN106426166A - VR (virtual reality) system for remotely controlling mechanical devices - Google Patents
VR (virtual reality) system for remotely controlling mechanical devices Download PDFInfo
- Publication number
- CN106426166A CN106426166A CN201610871714.9A CN201610871714A CN106426166A CN 106426166 A CN106426166 A CN 106426166A CN 201610871714 A CN201610871714 A CN 201610871714A CN 106426166 A CN106426166 A CN 106426166A
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- China
- Prior art keywords
- control end
- wearable device
- industrial robot
- virtual reality
- joint
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a VR (virtual reality) system for remotely controlling mechanical devices. The system comprises an execution terminal and a control terminal, wherein the control terminal comprises a wearable device and a computer connected with the wearable device, the wearable device is equipped with a VR helmet and control sites which are arranged on joints and correspond to a human body structure; the execution terminal comprises a mobile industrial robot, an execution device corresponding to the wearable device, a bionic viewfinder and a two-DOF (degree of freedom) pan-tilt are arranged on the industrial robot, the wearable device is connected with the industrial robot and used for sending action signals to the industrial robot, and the industrial robot transmits video signals back to the VR helmet through the bionic viewfinder. According to the VR system for remotely controlling the mechanical devices, actions of an operator can be accurately reflected, the outside work can be more accurately completed, and personal safety is guaranteed; secondly, a field environment can be remotely monitored, the field condition can be more directly reflected, and the optimal judgment can be made accordingly. The housework can be done remotely and time is saved when the system is applied to the household field.
Description
Technical field
The present invention relates to Versatile Construction Machinery technical field is and in particular to a kind of virtual reality remote control machinery
System.
Background technology
In engineering machinery field or other mechanical fields, robot gradually replaces manual labor, the effect of robot
Increasing, but the use limitation of industrial robot is larger, is not suitable for the complicated working condition of extraneous working environment, such as changes
The live maintenance and repair work that frock is put, and the upkeep operation of power industry, the underground work in colliery field etc..Therefore develop one
Kind can be suitable for this situation can replace manual site's operation machine particularly important.
Almost all of robot is all to be operated under program set in advance at present, and intelligence degree does not far reach
Human levels, and artificial intelligence technology still can not spread to the expense standard operation field in conventional project mechanical field at present, especially
It is the extremely strong checking maintenance field of uncertain factor.
Content of the invention
The purpose of the present invention is for deficiency of the prior art, provides a kind of virtual reality remote control machinery system
System, can replace manual site's operation, reduce operating risk and labor intensity.
For achieving the above object, the invention discloses following technical scheme：
A kind of virtual reality remote control mechanism system, including actuating station and control end：
Control end includes a wearable device and connected computer, wearable device be provided with joint with
The corresponding control end of organization of human body is simultaneously provided with virtual implementing helmet；
Actuating station includes a moveable industrial robot, and industrial robot is provided with hold corresponding with wearable device
Luggage is put and is provided with bionical view finder and double freedom platform, and wearable device is connected with industrial robot and by actuating signal
Send to industrial robot, video signal is back to virtual implementing helmet by bionical view finder by industrial robot.
Further, described industrial robot also includes installing on base and electrical machinery assembly according to human engineering
The wrist joint of setting, arm joint, articulations digitorum manus, shoulder joint, crawler belt；
Control end includes a wearable device, and wearable device includes manipulator control end, virtual implementing helmet, shoulder joint
Section control end and elbow joint control end, each control end is all corresponding with organization of human body；
Control end is connected with actuating station, the manipulator control end of wearable device and the wrist joint of industrial robot and refer to
Joint carries out actuating signal transmission, and the elbow joint control end of wearable device and the arm joint of industrial robot carry out signal biography
Defeated, the shoulder joint control end of wearable device and the shoulder joint of industrial robot carry out signal transmission, wearable device virtual
The real helmet carries out signal transmission with the double freedom platform of industrial robot and bionical view finder.
Further, described bionical view finder includes the on all four CCD camera of two parameters.
Further, there are two high resolution micro display, the left and right with operator in described virtual implementing helmet
Eye is corresponding.
Further, described actuating station is connected for line traffic control with the connected mode of control end.
Further, actuating station is wirelessly to be connected with the connected mode of control end, and actuating station is provided with signal receiving device,
Control end is provided with sender unit.
A kind of virtual reality remote control mechanism system disclosed by the invention, has the advantages that：
The present invention is mainly divided into industrial circle and domestic environments.In industrial circle, outstanding feature is to replace people to go
Complete some relatively difficult or than relatively hazardous task；In addition, in the complicated operating mode bar of with a varied topography or extraneous working environment
The action of operator can accurately be reflected under part, more accurately complete extraneous operation, the reduction operation of high degree
Risk and labor intensity are it is ensured that personal safety；Secondly, can be with remote monitoring site environment, to operator's sensation on the spot in person, more
Plus direct reaction field condition, to make optimal judgement.Mainly can remotely do housework in domestic environments and reach section
The purpose made an appointment.
Brief description
Fig. 1 is carried out the structural representation held；
Fig. 2 is carried out the side view held；
Fig. 3 is the structural representation of control end；
Wherein：
1- wrist joint, 2- arm joint, the bionical view finder of 3-, 4- double freedom platform, 5- articulations digitorum manus, 6- shoulder joint,
7- base and electrical machinery assembly, 8- crawler belt, 9- manipulator control end, 10- virtual implementing helmet, 11- shoulder joint control end,
12- elbow joint control end.
Specific embodiment
With reference to embodiment, the invention will be further described.
Refer to Fig. 1-Fig. 3.
Embodiment 1
A kind of virtual reality remote control mechanism system, including actuating station and control end：
As Fig. 3, control end includes a wearable device and connected computer, and wearable device is on joint
It is provided with control end corresponding with organization of human body and be provided with virtual implementing helmet 10；
As Fig. 1-2, actuating station includes a moveable industrial robot, and industrial robot is provided with and wearable device
Corresponding performs device and be provided with bionical view finder 3 and double freedom platform 4 (be equivalent to the neck of people, can be up and down
Rotate), wearable device is connected with industrial robot and sends actuating signal to industrial robot, and industrial robot passes through imitative
Video signal is back to virtual implementing helmet 10 by raw view finder 3.The industrial robot of actuating station can be in the ring of rather harsh
Operated under border, can effective reduction accident odds.
Embodiment 2
In the present embodiment, described industrial robot is also included according to human engineering on base and electrical machinery assembly 7
The wrist joint 1 of installation settings, arm joint 2, articulations digitorum manus 5, shoulder joint 6, crawler belt 8；
Control end includes a wearable device, wearable device include manipulator control end 9, virtual implementing helmet 10,
Shoulder joint control end 11 and elbow joint control end 12, each control end is all corresponding with organization of human body；
Control end is connected with actuating station, the wrist joint 1 of the manipulator control end of wearable device 9 and industrial robot and
Articulations digitorum manus 5 carry out actuating signal transmission, and the elbow joint control end 12 of wearable device is carried out with the arm joint 2 of industrial robot
Signal transmission, the shoulder joint control end 11 of wearable device and the shoulder joint 6 of industrial robot carry out signal transmission, wearable set
Standby virtual implementing helmet 10 and the double freedom platform 4 of industrial robot and bionical view finder 3 carry out signal transmission.
Operator can directly be seated and dress control end, the joint band moving by operator of each control end
Dynamic rotation, in such manner, it is possible to the action in actuating station accurately operation personnel.The position of object not only can be seen,
And may determine that the depth of object.
Remaining technical scheme of the present embodiment is consistent with embodiment 1, and the technical scheme that the present embodiment is adopted is also applied for
Remaining embodiment.
Embodiment 3
In the present embodiment, described bionical view finder 3 includes the on all four CCD camera of two parameters, is schemed in real time
As identification.Remaining technical scheme of the present embodiment is consistent with embodiment 2, and the technical scheme that the present embodiment is adopted is also applied for it
Remaining embodiment.
Embodiment 4
In the present embodiment, in described virtual implementing helmet, there are two high resolution micro display, the left side with operator
Right eye corresponds to, and so, the scene that operator see in the visual field is then Three-dimensional holographic image, so can accomplish accurately to control very much
System.Remaining technical scheme of the present embodiment is consistent with embodiment 2, and the technical scheme that the present embodiment is adopted is also applied for remaining in fact
Apply example.
Embodiment 5
In the present embodiment, described actuating station is connected for line traffic control with the connected mode of control end.It is to need during using line traffic control mode
Want operator come to manipulate, the motion that all of data of actuating station includes all joints is all connected with control end in the way of line traffic control
Connect so that each action of robot and the action of operator match, accurately express.Remaining skill of the present embodiment
Art scheme is consistent with embodiment 2, and the technical scheme that the present embodiment is adopted is also applied for remaining embodiment.
Embodiment 6
In the present embodiment, actuating station is wirelessly to be connected with the connected mode of control end, and actuating station is provided with signal receiving device,
It is provided with sender unit in control end.When taking wireless mode, typically all it is used for domestic environments, because being now not need
Each action of too accurate control robot, to reach the purpose of remote control, more hommization.Remaining skill of the present embodiment
Art scheme is consistent with embodiment 2, and the technical scheme that the present embodiment is adopted is also applied for remaining embodiment.
Present invention can apply to industrial circle and domestic environments.
In industrial circle, the present invention carries out remote monitoring site environment using virtual reality technology, it is possible to achieve remotely rescue
Fire, and carry out various high-risk operations.Accomplish effectively accurately to judge in real time, allow the operator can sense in the way of on the spot in person
Know the environmental quality in field operation region, thus making accurate judgement.Using multi-degree-of-freemechanical mechanical arm and bionic mechanical arm,
It is connected on the extremity of operator using the mode of line traffic control, make the action of machinery and the action Complete Synchronization of operator, this
Sample is just equivalent to and for behaviour's extremity of personnel and eyes to have extended to field operation region, and operator can safely and effectively and ten
Divide and accurately hold field operation, very convenient, and can be with the reduction operating risk of high degree and labor intensity.Separately
Outward, robot relies on crawler belt to move ahead, and the advantages of geostatic pressure is little, and obstacle climbing ability, landform are adaptable it is ensured that robot can
The complicated working condition of extraneous working environment also can normal forward it is ensured that the smoothly completing of task.
In domestic environments, this covering device can also be capable of remotely doing housework, such as using wirelessly manipulating
Art of attending to anything else is general, has greatly saved the time swept needed for housework.In addition it is also possible to execute task out of doors, reduce
Injury to personnel.
Mechanical hand end according to the present invention controls, shoulder joint controller and elbow joint controller all have a set of human performance
Learn high control system, after receiving the signal that human body controller transmits, be capable of accurate operation personnel each
Action, thus this at three controller have very high requirement, such guarantee for elaboration during manufacture and reinspection
The accurately action of operation person.
In addition, the CCD camera of two identical parameters of bionical view finder 3, can intuitively reflect machine very much
Scene in human eye, and because the presence of double freedom platform 4 is so that the bionical view finder 3 of robot can be omnibearing
Rotation, the as far as possible picture needed for capture operator.
In addition, in virtual implementing helmet 10, miniscope used has very high resolution.Take from bionical solid
In the miniscope in virtual implementing helmet 10 for the reflection that the picture reading out in scape device can be apparent from.Due to this
Miniscope is the right and left eyes of respective operations person respectively, so the image being read from miniscope is Three-dimensional holographic
Image, is capable of the seizure picture of simpler dramatic.
The crawler belt 8 advancing for robot is similar with the crawler belt of tank, has and lands area greatly, that geostatic pressure is little, obstacle detouring
The advantages of ability, landform are adaptable is it is ensured that robot can also can be normal in the complicated working condition of extraneous working environment
Move ahead it is ensured that the smoothly completing of task.Base and electric machine structure assembly 7 are to support entirety and be also the integrated area of internal circuit,
Robot can normal work, this part needs reinforcement protection, prevents circuit to be destroyed.
During use, operator is first sitting at control end, then carries upper virtual implementing helmet 10, shoulder joint control end more successively
11st, elbow joint control end 12 and manipulator control end 9.Control end can be to be connected using line traffic control mode with each joint of actuating station
Or wireless mode connects, and after having selected connected mode, robot is being debugged it is ensured that signal can accurately be passed on and connect
It is subject to, be eventually used for completing task.
The above is only the preferred embodiment of the present invention, is not intended to limit；Although it should be pointed out that with reference to above-mentioned each
Embodiment has been described in detail to the present invention, it will be understood by those within the art that, it still can be to above-mentioned each
Technical scheme described in embodiment is modified, or carries out equivalent to wherein some or all of technical characteristic；And this
A little scopes changed and replace, do not make the essence disengaging various embodiments of the present invention technical scheme of corresponding technical scheme.
Claims (6)
1. a kind of virtual reality remote control mechanism system is it is characterised in that include actuating station and control end：
Control end includes a wearable device and connected computer, and wearable device is provided with and human body on joint
The corresponding control end of structure is simultaneously provided with virtual implementing helmet；
Actuating station includes a moveable industrial robot, and industrial robot is provided with and corresponding with wearable device executes dress
Put and be provided with bionical view finder and double freedom platform, wearable device is connected with industrial robot and sends actuating signal
To industrial robot, video signal is back to virtual implementing helmet by bionical view finder by industrial robot.
2. a kind of virtual reality remote control mechanism system according to claim 1 is it is characterised in that described industry
Robot also include according to human engineering on base and electrical machinery assembly the wrist joint of installation settings, arm joint,
Articulations digitorum manus, shoulder joint, crawler belt；
Control end includes a wearable device, and wearable device includes manipulator control end, virtual implementing helmet, shoulder joint control
End processed and elbow joint control end, each control end is all corresponding with organization of human body；
Control end is connected with actuating station, the manipulator control end of wearable device and the wrist joint of industrial robot and articulations digitorum manus
Carry out actuating signal transmission, the elbow joint control end of wearable device and the arm joint of industrial robot carry out signal transmission,
The shoulder joint control end of wearable device and the shoulder joint of industrial robot carry out signal transmission, the virtual reality of wearable device
The helmet carries out signal transmission with the double freedom platform of industrial robot and bionical view finder.
3. a kind of virtual reality remote control mechanism system according to claim 2 is it is characterised in that described bionical
View finder includes the on all four CCD camera of two parameters.
4. a kind of virtual reality remote control mechanism system according to claim 2 is it is characterised in that described virtual
Two high resolution micro display are had in the real helmet, corresponding with the right and left eyes of operator.
5. a kind of virtual reality remote control mechanism system according to claim 2 is it is characterised in that described execution
End is connected for line traffic control with the connected mode of control end.
6. a kind of virtual reality remote control mechanism system according to claim 2 it is characterised in that actuating station with
The connected mode of control end is wireless connection, and actuating station is provided with signal receiving device, is provided with sender unit in control end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610871714.9A CN106426166A (en) | 2016-09-30 | 2016-09-30 | VR (virtual reality) system for remotely controlling mechanical devices |
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|---|---|---|---|
| CN201610871714.9A CN106426166A (en) | 2016-09-30 | 2016-09-30 | VR (virtual reality) system for remotely controlling mechanical devices |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107199566A (en) * | 2017-06-02 | 2017-09-26 | 东南大学 | A kind of remote control system of the space-oriented station robot based on virtual arm |
| CN107598923A (en) * | 2017-09-01 | 2018-01-19 | 世优（北京）科技有限公司 | The method and apparatus of wearable device, robot system and control machine people |
| CN108008818A (en) * | 2017-12-04 | 2018-05-08 | 中国人民解放军陆军工程大学 | A kind of helmet-type man-machine interactive system and method based on virtual reality |
| CN108582032A (en) * | 2018-04-11 | 2018-09-28 | 南京理工大学 | A kind of hot line robot mechanical arm cooperation force feedback master-slave control method and system based on virtual reality technology |
| CN109224434A (en) * | 2018-07-26 | 2019-01-18 | 西北工业大学 | Space environment gaming platform based on microgravity effect analog and line-controlled robot people |
| CN109483538A (en) * | 2018-11-16 | 2019-03-19 | 左志强 | A kind of VR movement projection robot system based on Kinect technology |
| WO2019179469A1 (en) * | 2018-03-21 | 2019-09-26 | 北京猎户星空科技有限公司 | Method and device for controlling rotation of robot, robot, and storage medium |
| CN110744571A (en) * | 2019-11-11 | 2020-02-04 | 路邦科技授权有限公司 | Robot hand-held control device |
| JP2020042641A (en) * | 2018-09-12 | 2020-03-19 | 学校法人立命館 | Evaluation device, controller, operation subject feeling improvement system, evaluation method, and computer program |
| CN112621778A (en) * | 2020-12-16 | 2021-04-09 | 北京建筑大学 | Synchronous crossing robot for underground coal mine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108008818A (en) * | 2017-12-04 | 2018-05-08 | 中国人民解放军陆军工程大学 | A kind of helmet-type man-machine interactive system and method based on virtual reality |
| WO2019179469A1 (en) * | 2018-03-21 | 2019-09-26 | 北京猎户星空科技有限公司 | Method and device for controlling rotation of robot, robot, and storage medium |
| CN108582032A (en) * | 2018-04-11 | 2018-09-28 | 南京理工大学 | A kind of hot line robot mechanical arm cooperation force feedback master-slave control method and system based on virtual reality technology |
| CN109224434A (en) * | 2018-07-26 | 2019-01-18 | 西北工业大学 | Space environment gaming platform based on microgravity effect analog and line-controlled robot people |
| JP2020042641A (en) * | 2018-09-12 | 2020-03-19 | 学校法人立命館 | Evaluation device, controller, operation subject feeling improvement system, evaluation method, and computer program |
| JP7217874B2 (en) | 2018-09-12 | 2023-02-06 | 国立大学法人 奈良先端科学技術大学院大学 | EVALUATION DEVICE, CONTROL DEVICE, SYSTEM FOR IMPROVING OPERATING SECONDITY, EVALUATION METHOD, AND COMPUTER PROGRAM |
| CN109483538A (en) * | 2018-11-16 | 2019-03-19 | 左志强 | A kind of VR movement projection robot system based on Kinect technology |
| CN110744571A (en) * | 2019-11-11 | 2020-02-04 | 路邦科技授权有限公司 | Robot hand-held control device |
| CN112621778A (en) * | 2020-12-16 | 2021-04-09 | 北京建筑大学 | Synchronous crossing robot for underground coal mine |
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Application publication date: 20170222 |