CN107263473A - A kind of man-machine interaction method based on virtual reality - Google Patents
A kind of man-machine interaction method based on virtual reality Download PDFInfo
- Publication number
- CN107263473A CN107263473A CN201710463981.7A CN201710463981A CN107263473A CN 107263473 A CN107263473 A CN 107263473A CN 201710463981 A CN201710463981 A CN 201710463981A CN 107263473 A CN107263473 A CN 107263473A
- Authority
- CN
- China
- Prior art keywords
- man
- environment map
- dimensional environment
- virtual reality
- data
- Prior art date
- 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.)
- Pending
Links
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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Fuzzy Systems (AREA)
- Mechanical Engineering (AREA)
- Evolutionary Computation (AREA)
- Human Computer Interaction (AREA)
- General Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Processing Or Creating Images (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of man-machine interaction method based on virtual reality, and step includes：1）In controlled robotic end, collection is by the movable information of man-controlled mobile robot, outdoor scene environmental data in real time, respectively to being estimated and being built corresponding three-dimensional environment map by the pose of man-controlled mobile robot, the incremental data obtained by real-time acquisition pose estimated result and three-dimensional environment map real-time update is transmitted；2）In control end, pass through virtual reality system real-time reception pose estimated result, incremental data, the position and posture of robot model, three-dimensional environment map in virtual reality system are updated respectively, and according to being sent to after the position and posture after renewal and three-dimensional environment map generation control instruction by man-controlled mobile robot, to control to act needed for being performed by man-controlled mobile robot.The present invention can realize man-machine interaction based on virtual reality system, and have the advantages that implementation method is simple, required communication bandwidth is small, man-machine interaction efficiency high and effect is good and application is flexible.
Description
Technical field
Virtual reality is based on the present invention relates to human-computer interaction technique field, more particularly to one kind（Virtual Reality,
VR）Man-machine interaction method.
Background technology
Human-computer interaction technology is, by the information exchange between people and robot, to realize that people's control machine people performs various
Action.Applied robot is needed to perform corresponding task in such as each field such as rescue, high-risk operations, by human-computer interaction technology,
By operating personnel in far-end remote control robot, obtain after the real-time action of robot, ambient condition information, then control machine people adjusts
It is whole it is corresponding perform action, without operating personnel scene operated, execution efficiency and security performance height.
It is typically movable information, the outdoor scene ring directly by network data transmission robot at present to realize man-machine interaction
Border video data etc., then directly shown video data using display devices such as LCDs, to cause operating personnel
Robot motion, environmental information can be got.But directly show robot environment's information, operating personnel using display device
Telepresenc under the 3rd visual angle is not strong, and generally the robot local environment network bandwidth is limited, directly passes through Network Capture ring
When environment information is shown to display device, required band is roomy so that the video flowing passed back often has delay and packet loss phenomenon,
Not only increase the operation difficulty of operating personnel, be also easy to make operating personnel's fatigue.
Although effective man-machine interaction can also be realized by emerging interactive devices such as myoelectricity, brain electricity, voices, complete
Robot motion level, behavioral scaling, task level under particular task etc. are controlled, but there is problems with：
1）Can only specifically be applied to perform interaction based on such as myoelectricity, brain electricity, voice information, with extremely strong specific aim with
Limitation, it is impossible to be widely used in multiple-task and robot platform；
2）Obtained for real-time outdoor scene environmental data, be still based on complete real scene video data transfer, directly using display
Equipment is shown video data data volume is big, require high to network transmission bandwidth, and real-time is not strong.
The content of the invention
The technical problem to be solved in the present invention is that：The technical problem existed for prior art, the present invention provides one
Kind of implementation method is simple, required communication bandwidth is small, man-machine interaction efficiency high and effect are good, and application is flexible based on virtual existing
Real man-machine interaction method.
In order to solve the above technical problems, technical scheme proposed by the present invention is：
A kind of man-machine interaction method based on virtual reality, step includes：
1）In controlled robotic end, gather in real time by the movable information of man-controlled mobile robot, the outdoor scene environmental data of local environment, according to
The movable information of collection by the pose of man-controlled mobile robot to being estimated and according to the outdoor scene environmental data structure of collection
Corresponding three-dimensional environment map is built, the pose estimated result is obtained in real time and the three-dimensional environment map real-time update is obtained
Incremental data be transmitted；
2）In control end, the three-dimensional environment map is shown by virtual reality system and shown by the robot model set up
By the position and posture of man-controlled mobile robot, and pose estimated result, the incremental data described in real-time reception, according to receiving
Position and posture, the three-dimensional environment map of pose estimated result, the incremental data respectively to robot model are updated；
It is sent to according to the position and posture after renewal and three-dimensional environment map generation control instruction by man-controlled mobile robot, to control controlled machine
Device people acts needed for performing.
As a further improvement on the present invention, the step 1）In especially by when periodicity is specified, will current week
Phase three-dimensional environment map is compared with three-dimensional environmental map before specified periodicity, is removed in current period three-dimensional environment map,
With the data of three-dimensional environmental map similarity within the specified range before specified periodicity, the incremental data is obtained.
As a further improvement on the present invention：The step 1）In specifically using a thread to by the pose of man-controlled mobile robot
Estimated, and obtain the pose estimated result in real time to be transmitted, by another threading building three-dimensional environment map, and in fact
When obtain the incremental data that the three-dimensional environment map real-time update obtains and be transmitted.
As a further improvement on the present invention：It is described to realize to being estimated by the pose of man-controlled mobile robot, and obtain in real time
The pose estimated result is transmitted, and the structure three-dimensional environment map, and obtains the three-dimensional environment map in real time
The incremental data that real-time update is obtained is transmitted, specific to be performed respectively using the dual-thread of LOAM algorithms.
As a further improvement on the present invention：The step 1）In be specifically based on be mounted in by man-controlled mobile robot it is three-dimensional away from
From sensor and IMU, collection is by the movable information of man-controlled mobile robot, the outdoor scene environmental data of local environment in real time.
As a further improvement on the present invention, the step 2）Middle virtual reality system show the three-dimensional environment map with
And concretely comprising the following steps by the position and posture of man-controlled mobile robot：
2.1）Robot model is built in advance, and carries out visualization in virtual reality system renders；
2.2）Position and posture, the primary data of the three-dimensional environment map of the robot model is obtained, according to the institute of acquisition
State primary data and the initial position and posture of robot model, initial three-dimensional environment map are built in virtual reality system；
2.3）The virtual reality system real-time reception is controlled the pose estimated result, the incremental number that robotic end is sent
According to, visualization is carried out to the position and posture of robot model by the pose estimated result received and rendered, it is controlled to update
The position and posture of robot, and the incremental data is subjected to visualization in current three-dimensional environment map rendered, to update
Three-dimensional environment map.
As a further improvement on the present invention：The step 1）In when being transmitted, data to be sent are subjected to JSon lattice
Formula is encoded, and the data after coding are transmitted；The step 2）In when receiving the data that controlled robotic end is sent, according to
After JSon forms are decoded, the pose estimated result that is transmitted, the incremental data.
As a further improvement on the present invention：The controlled robotic end and the specifically used UDP communication parties of the control end
Formula carries out data transmission.
Compared with prior art, the advantage of the invention is that：
1）Man-machine interaction method of the invention based on virtual reality, is believed by gathering robot movable information and outdoor scene environment in real time
Breath, estimates robot pose and builds three-dimensional environment map, then by the increasing of robot pose, three-dimensional environment map rejuvenation respectively
Data transfer is measured to control end, pose, map incremental data are subjected to visualization in virtual reality system and rendered, machine is realized
People's pose and three-dimensional environment map real-time update, allow the operator to get the motion shape of robot under the first visual angle
State, residing three-dimensional environment, so as to carry out remote control to robot based on virtual reality system, realize the senior of people and robot
Interaction, while the only incremental data of real-time Transmission three-dimensional environment map real-time update, the number of transmission during three-dimensional environment map rejuvenation
It is small according to measuring, the required network bandwidth can be effectively reduced, the real-time of man-machine interaction is improved；
2）Man-machine interaction method of the invention based on virtual reality, structure is obtained after three-dimensional environment map, using the ground of increment type
Figure transmission means, every time to control end send map datum when, only send the incremental data of the three-dimensional environment map newly produced with
Carry out map visualization render, compared to tradition the need for transmit whole ambient video data, volume of transmitted data is very small so that
Required network bandwidth requirements when effectively reducing man-machine interaction；
3）Man-machine interaction method of the invention based on virtual reality, further using dual-thread respectively to by the pose of man-controlled mobile robot
Estimated and data transfer, the corresponding three-dimensional environment map of structure and data transfer, handling machine people are distinguished by two threads
Pose, three-dimensional environment map, it is to avoid pose renewal frequency is high, map datum amount is big and causes robot pose to update delayed etc. ask
Topic, it is ensured that the real-time of man-machine interaction.
Brief description of the drawings
Fig. 1 is the implementation process schematic diagram of man-machine interaction method of the present embodiment based on virtual reality.
Fig. 2 is the detailed realization principle schematic diagram of man-machine interaction method of the present embodiment based on virtual reality.
Fig. 3 is that the present embodiment obtains increment type map and implements principle schematic.
Fig. 4 is the present embodiment step 2）Detailed step implementation process schematic diagram.
Embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
Limit the scope of the invention.
As shown in Figure 1, 2, man-machine interaction method step of the present embodiment based on virtual reality includes：
1）In controlled robotic end, gather in real time by the movable information of man-controlled mobile robot, the outdoor scene environmental data of local environment, according to
The movable information of collection is to being estimated and being built according to the outdoor scene environmental data of collection corresponding by the pose of man-controlled mobile robot
Three-dimensional environment map, the incremental data that acquisition pose estimated result and three-dimensional environment map real-time update are obtained in real time is sent out
Send；
2）In control end, three-dimensional environment map is shown by virtual reality system and shows controlled by the robot model set up
The position and posture of robot, and real-time reception pose estimated result, incremental data, according to the pose estimated result received, increase
Position and posture, the three-dimensional environment map of amount data respectively to robot model are updated；According to the position and posture after renewal with
And be sent to after three-dimensional environment map generation control instruction by man-controlled mobile robot, to control to act needed for being performed by man-controlled mobile robot.
The present embodiment is estimated robot pose by gathering robot and movable information, respectively and built three-dimensional
Environmental map, then transmits the incremental data of robot pose and three-dimensional environment map rejuvenation to control end, further in void
Intend progress visualization in reality system to render, realize robot pose and three-dimensional environment map real-time update, make operating personnel
The motion state of robot, residing three-dimensional environment can be got under the first visual angle, based on virtual reality system to robot
It is controlled, realizes that people interacts with the senior of robot, while only real-time Transmission three-dimensional ring condition during three-dimensional environment map rejuvenation
The incremental data of figure real-time update, the data volume of transmission is small, can effectively reduce the required network bandwidth, improves the reality of man-machine interaction
Shi Xing.
In the present embodiment, step 1）In be specifically based on the three-dimensional distance sensor and IMU being mounted in by man-controlled mobile robot, it is real
When collection by the movable information of man-controlled mobile robot, the outdoor scene environmental data of local environment, three-dimensional distance sensor can be swashed using three-dimensional
Optical radar, single line laser radar and motor combination, Kinect etc., three-dimensional distance sensor can obtain the depth information in space, by
Three-dimensional distance sensor combination Inertial Measurement Unit carries out outdoor scene environmental data collecting, can obtain complete environmental data, from
And accurately reflect the environmental information residing for robot.
Because network communication bandwidth is limited, while considering the limitation of rendering effect in virtual reality system, the present embodiment structure
Build and obtain after three-dimensional environment map, using the Map mode of increment type, when sending map datum to control end every time, only send out
Send the incremental data of the three-dimensional environment map newly produced to be rendered to carry out map visualization, compared to tradition the need for transmit it is whole
Ambient video data, volume of transmitted data is very small, required network bandwidth requirements during so as to effectively reduction man-machine interaction.
In the present embodiment, concretely comprising the following steps for incremental map data is obtained：When periodicity is specified, by inciting somebody to action current week
Phase three-dimensional environment map is compared with three-dimensional environmental map before specified periodicity, is removed in current period three-dimensional environment map,
With the data of three-dimensional environmental map similarity within the specified range before specified periodicity, incremental data is obtained, is constituted incrementally
Figure.
As shown in figure 3, in concrete application embodiment, it is assumed that laser radar and IMU work period are k, obtain increment
During map datum, the new point cloud map that the kth cycle is obtained（Three-dimensional environment map）With built before the cycle of kth -1 institute a little
Cloud map（Three-dimensional environment map）Compare, then filter out in the new point cloud map of kth cycle generation with owning before the kth-n cycles
The spatially close point of point cloud map, obtains increment type point cloud map, and wherein n is the gap periods number of setting, n and similar
The threshold value that point judges is set all in accordance with actual demand.The threshold value that similitude judges specifically may be set to 0.01m, it is contemplated that robot
The platform speed of service, n may be set to 5, i.e., an incremental computation is done using the new 5 frame maps that produce, to obtain three-dimensional ring condition
Scheme the incremental data updated so that interaction realizes that efficiency and precision are higher.
During due to performing man-machine interaction in virtual reality system, compared to map rejuvenation, the renewal frequency of robot pose
Rate requires higher, and map datum amount is far longer than robot pose data volume, if robot pose estimation and pose data hair
Send, three-dimensional environment map structuring and transmission use same thread, then robot pose can be caused to update serious delayed.The present embodiment
Step 1）In it is specific using dual-thread respectively to being estimated and data transfer, the corresponding three-dimensional of structure by the pose of man-controlled mobile robot
Environmental map and data transfer, i.e., estimate robot pose by a thread, and sends pose estimated result to control end, by another
One threading building three-dimensional environment map, and the incremental data of three-dimensional environment map rejuvenation is sent to control end, two thread phases
Mutually independently execute, it is to avoid robot pose updates delayed, it is ensured that the real-time of man-machine interaction.
As shown in Fig. 2 in concrete application embodiment, realizing to being estimated by the pose of man-controlled mobile robot, and obtain in real time
Take the pose estimated result to be transmitted, and build three-dimensional environment map, and it is real-time more to obtain three-dimensional environment map in real time
The incremental data newly obtained is transmitted, specific to use LOAM algorithms（Low_drift and Real-time Lidar
Odometry and Mapping）Dual-thread perform respectively.LOAM algorithms are alien frequencies dual-thread ICP algorithm, and LOAM algorithms make
The movable information for obtaining the robot collected in real time with a separate threads carries out pose estimation, and pose estimated result is passed through
Network transmission obtains the outdoor scene environmental data collected in real time using another separate threads to control end, builds corresponding three
Tie up after environmental map, the incremental data of three-dimensional environment map is calculated when periodicity is specified, increment type map is obtained, by increment
Formula map is sent to control end by network transmission, and pose estimation, three-dimensional ring condition can be further improved based on LOAM algorithms
Scheme the precision and real-time built.
As shown in figure 4, the present embodiment step 2）Middle virtual reality system shows three-dimensional environment map and by man-controlled mobile robot
Position and posture concretely comprise the following steps：
2.1）Robot model is built in advance, and carries out visualization in virtual reality system renders；
2.2）Position and posture, the primary data of three-dimensional environment map of robot model is obtained, is existed according to the primary data of acquisition
Initial position and posture, the initial three-dimensional environment map of robot model is built in virtual reality system；
2.3）Virtual reality system real-time reception is controlled pose estimated result, the incremental data that robotic end is sent, by receiving
Pose estimated result visualization carried out to the position and posture of robot model rendered, to update by the pose shape of man-controlled mobile robot
State, and the incremental data of acquisition is increased into current three-dimensional environment map progress visualization rendered, to update three-dimensional environment
Map.
In concrete application embodiment, first using modeling software（Such as 3DSMax）Robot model is built to represent controlled
Robot, allows operating personnel to recognize the model in virtual reality system, and can obtain the state of robot pose；Work as control
System termination receives the pose estimated result data that controlled robotic end is sent, then to pose estimated result data in robot model
Middle progress visualization is rendered, with the position and posture of robot in real-time update model, and receives controlled robotic end transmission
Three-dimensional environment map incremental data after, visualization is carried out in current three-dimensional environment map to incremental data and rendered, with reality
When more new model in three-dimensional map environment, wherein renewal frequency may be configured as being not less than 24Hz, can be straight by virtual reality system
Connect the real-time pose state and surrounding reality ambient condition for observing robot.
In the present embodiment, step 1）In when being transmitted, data to be sent are subjected to JSon said shanks, after coding
Data are transmitted；Step 2）In when receiving the data that controlled robotic end is sent, after being decoded according to JSon forms, obtain
Pose estimated result, incremental data to transmission, the data encoding format based on JSon can be flexibly applied to multi-platform network
Data transfer.Controlled robotic end carries out data transmission with the specifically used UDP communication modes of control end, can also be according to actual need
Ask using other communication modes.
Rendered in virtual reality system after map and robot pose, with reference to the three-dimensional environment map and machine after renewal
The position and posture of device people is presently in situation to robot and judged, and generation control instruction performs next step with control machine people
Action sequence or task, wherein control end, which sends control instruction, to use same thread with robot pose data transfer,
Control instruction can be sent using new thread.In a particular embodiment, operating personnel can show equipment using virtual reality handle, head
Or ray derived from handle etc. assigns movement instruction or assignment instructions for robot, movement instruction or task that operating personnel assign
Instruction passes through network communication and transmission to robot；After robot receives control instruction, parse and perform the control instruction, by
This completes the interactive process based on virtual reality system between people and robot.
The above-mentioned man-machine interaction method of the present invention, is applicable to a variety of robot platforms to perform multiple-task, including with flying
The various mobile robots such as row device, ground mobile robot, underwater robot, realize required movement control action level including
The multiple-task interaction such as the behavioral scaling of various motion control and the task level comprising a variety of Behavior- Based controls.
Above-mentioned simply presently preferred embodiments of the present invention, not makees any formal limitation to the present invention.Although of the invention
It is disclosed above with preferred embodiment, but it is not limited to the present invention.Therefore, it is every without departing from technical solution of the present invention
Content, according to the technology of the present invention essence to any simple modifications, equivalents, and modifications made for any of the above embodiments, all should fall
In the range of technical solution of the present invention protection.
Claims (8)
1. a kind of man-machine interaction method based on virtual reality, it is characterised in that step includes：
1）In controlled robotic end, gather in real time by the movable information of man-controlled mobile robot, the outdoor scene environmental data of local environment, according to
The movable information of collection by the pose of man-controlled mobile robot to being estimated and according to the outdoor scene environmental data structure of collection
Corresponding three-dimensional environment map is built, the pose estimated result is obtained in real time and the three-dimensional environment map real-time update is obtained
Incremental data be transmitted；
2）In control end, the three-dimensional environment map is shown by virtual reality system and shown by the robot model set up
By the position and posture of man-controlled mobile robot, and pose estimated result, the incremental data described in real-time reception, according to receiving
Position and posture, the three-dimensional environment map of pose estimated result, the incremental data respectively to robot model are updated；
It is sent to according to the position and posture after renewal and three-dimensional environment map generation control instruction by man-controlled mobile robot, to control controlled machine
Device people acts needed for performing.
2. the man-machine interaction method according to claim 1 based on virtual reality, it is characterised in that the step 1）In,
Especially by when periodicity is specified, three-dimensional environmental map before current period three-dimensional environment map and specified periodicity is carried out
Compare, remove in current period three-dimensional environment map, with three-dimensional environmental map similarity before specified periodicity within the specified range
Data, obtain the incremental data.
3. the man-machine interaction method according to claim 1 or 2 based on virtual reality, it is characterised in that the step 1）
In specifically using a thread to being estimated by the pose of man-controlled mobile robot, and obtain the pose estimated result in real time and sent out
Send, by another threading building three-dimensional environment map, and obtain the increment that the three-dimensional environment map real-time update is obtained in real time
Data are transmitted.
4. the man-machine interaction method according to claim 3 based on virtual reality, it is characterised in that：It is described to realize to controlled
The pose of robot estimated, and obtained the pose estimated result in real time and be transmitted, and the structure three-dimensional environment
Map, and obtain the incremental data that the three-dimensional environment map real-time update obtains in real time and be transmitted, it is specific to be calculated using LOAM
The dual-thread of method is performed respectively.
5. the man-machine interaction method according to claim 1 or 2 based on virtual reality, it is characterised in that：The step 1）
In be specifically based on the three-dimensional distance sensor and IMU being mounted in by man-controlled mobile robot, in real time collection by man-controlled mobile robot motion believe
Breath, the outdoor scene environmental data of local environment.
6. the man-machine interaction method according to claim 1 or 2 based on virtual reality, it is characterised in that the step 2）
Middle virtual reality system shows the three-dimensional environment map and concretely comprising the following steps by the position and posture of man-controlled mobile robot：
2.1）Robot model is built in advance, and carries out visualization in virtual reality system renders；
2.2）Position and posture, the primary data of the three-dimensional environment map of the robot model is obtained, according to the institute of acquisition
State primary data and the initial position and posture of robot model, initial three-dimensional environment map are built in virtual reality system；
2.3）The virtual reality system real-time reception is controlled the pose estimated result, the incremental number that robotic end is sent
According to, visualization is carried out to the position and posture of robot model by the pose estimated result received and rendered, it is controlled to update
The position and posture of robot, and the incremental data is subjected to visualization in current three-dimensional environment map rendered, to update
Three-dimensional environment map.
7. the man-machine interaction method according to claim 1 or 2 based on virtual reality, it is characterised in that the step 1）
In when being transmitted, data to be sent are subjected to JSon said shanks, the data after coding are transmitted；The step 2）In
When receiving the data that controlled robotic end is sent, after being decoded according to JSon forms, the pose estimation transmitted
As a result, the incremental data.
8. the man-machine interaction method according to claim 1 or 2 based on virtual reality, it is characterised in that：The controlled machine
Device people end carries out data transmission with the specifically used UDP communication modes of the control end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710463981.7A CN107263473A (en) | 2017-06-19 | 2017-06-19 | A kind of man-machine interaction method based on virtual reality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710463981.7A CN107263473A (en) | 2017-06-19 | 2017-06-19 | A kind of man-machine interaction method based on virtual reality |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107263473A true CN107263473A (en) | 2017-10-20 |
Family
ID=60067927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710463981.7A Pending CN107263473A (en) | 2017-06-19 | 2017-06-19 | A kind of man-machine interaction method based on virtual reality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107263473A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108037497A (en) * | 2018-01-04 | 2018-05-15 | 中国人民解放军91388部队 | The transmitting-receiving of multiple submatrixes synthetic aperture sonar data closes and puts conversion method |
| CN109343547A (en) * | 2018-11-26 | 2019-02-15 | 哈工大机器人（岳阳）军民融合研究院 | 3D Model display interface and display methods for ROV control |
| CN109445581A (en) * | 2018-10-17 | 2019-03-08 | 北京科技大学 | Large scale scene real-time rendering method based on user behavior analysis |
| CN111267099A (en) * | 2020-02-24 | 2020-06-12 | 东南大学 | Accompanying machine control system based on virtual reality |
| CN112130660A (en) * | 2020-08-14 | 2020-12-25 | 青岛小鸟看看科技有限公司 | Interaction method and system based on virtual reality all-in-one machine |
| CN112947238A (en) * | 2021-03-15 | 2021-06-11 | 哈尔滨工业大学 | Industrial robot real-time control system based on VR technique |
| CN113927597A (en) * | 2021-10-21 | 2022-01-14 | 燕山大学 | Robot connecting piece six-degree-of-freedom pose estimation system based on deep learning |
| CN114683288A (en) * | 2022-05-07 | 2022-07-01 | 法奥意威(苏州)机器人系统有限公司 | Robot display and control method and device and electronic equipment |
| CN116000932A (en) * | 2022-12-30 | 2023-04-25 | 节卡机器人股份有限公司 | Sports equipment control method, system, device, equipment and storage medium |
| CN116896684A (en) * | 2023-08-02 | 2023-10-17 | 广州颖上信息科技有限公司 | Virtual control system and method for stabilizer |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013508874A (en) * | 2009-10-30 | 2013-03-07 | ユージン ロボット シーオー．， エルティーディー． | Map generation and update method for mobile robot position recognition |
| CN103824270A (en) * | 2013-09-25 | 2014-05-28 | 浙江树人大学 | Rapid disperse three-dimensional point cloud filtering method |
| CN104794748A (en) * | 2015-03-17 | 2015-07-22 | 上海海洋大学 | Three-dimensional space map construction method based on Kinect vision technology |
| CN105116785A (en) * | 2015-06-26 | 2015-12-02 | 北京航空航天大学 | Multi-platform remote robot general control system |
| CN105808578A (en) * | 2014-12-29 | 2016-07-27 | 高德软件有限公司 | Method and device for incremental updating of electronic map |
| CN105844691A (en) * | 2016-04-15 | 2016-08-10 | 武汉理工大学 | Three-dimensional reconstruction method for disordered points |
| US9452530B2 (en) * | 2014-09-12 | 2016-09-27 | Toyota Jidosha Kabushiki Kaisha | Robot motion replanning based on user motion |
| CN106595659A (en) * | 2016-11-03 | 2017-04-26 | 南京航空航天大学 | Map merging method of unmanned aerial vehicle visual SLAM under city complex environment |
-
2017
- 2017-06-19 CN CN201710463981.7A patent/CN107263473A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013508874A (en) * | 2009-10-30 | 2013-03-07 | ユージン ロボット シーオー．， エルティーディー． | Map generation and update method for mobile robot position recognition |
| CN103824270A (en) * | 2013-09-25 | 2014-05-28 | 浙江树人大学 | Rapid disperse three-dimensional point cloud filtering method |
| US9452530B2 (en) * | 2014-09-12 | 2016-09-27 | Toyota Jidosha Kabushiki Kaisha | Robot motion replanning based on user motion |
| CN105808578A (en) * | 2014-12-29 | 2016-07-27 | 高德软件有限公司 | Method and device for incremental updating of electronic map |
| CN104794748A (en) * | 2015-03-17 | 2015-07-22 | 上海海洋大学 | Three-dimensional space map construction method based on Kinect vision technology |
| CN105116785A (en) * | 2015-06-26 | 2015-12-02 | 北京航空航天大学 | Multi-platform remote robot general control system |
| CN105844691A (en) * | 2016-04-15 | 2016-08-10 | 武汉理工大学 | Three-dimensional reconstruction method for disordered points |
| CN106595659A (en) * | 2016-11-03 | 2017-04-26 | 南京航空航天大学 | Map merging method of unmanned aerial vehicle visual SLAM under city complex environment |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108037497B (en) * | 2018-01-04 | 2022-05-17 | 中国人民解放军91388部队 | Transceiving and combining conversion method for multi-subarray synthetic aperture sonar data |
| CN108037497A (en) * | 2018-01-04 | 2018-05-15 | 中国人民解放军91388部队 | The transmitting-receiving of multiple submatrixes synthetic aperture sonar data closes and puts conversion method |
| CN109445581A (en) * | 2018-10-17 | 2019-03-08 | 北京科技大学 | Large scale scene real-time rendering method based on user behavior analysis |
| CN109343547A (en) * | 2018-11-26 | 2019-02-15 | 哈工大机器人（岳阳）军民融合研究院 | 3D Model display interface and display methods for ROV control |
| CN111267099A (en) * | 2020-02-24 | 2020-06-12 | 东南大学 | Accompanying machine control system based on virtual reality |
| CN111267099B (en) * | 2020-02-24 | 2023-02-28 | 东南大学 | Accompanying machine control system based on virtual reality |
| CN112130660A (en) * | 2020-08-14 | 2020-12-25 | 青岛小鸟看看科技有限公司 | Interaction method and system based on virtual reality all-in-one machine |
| CN112130660B (en) * | 2020-08-14 | 2024-03-15 | 青岛小鸟看看科技有限公司 | Interaction method and system based on virtual reality all-in-one machine |
| CN112947238B (en) * | 2021-03-15 | 2021-11-09 | 哈尔滨工业大学 | Industrial robot real-time control system based on VR technique |
| CN112947238A (en) * | 2021-03-15 | 2021-06-11 | 哈尔滨工业大学 | Industrial robot real-time control system based on VR technique |
| US11986968B2 (en) | 2021-03-15 | 2024-05-21 | Harbin Institute Of Technology | Real-time control system for industrial robot based on virtual reality (VR) |
| CN113927597A (en) * | 2021-10-21 | 2022-01-14 | 燕山大学 | Robot connecting piece six-degree-of-freedom pose estimation system based on deep learning |
| CN114683288A (en) * | 2022-05-07 | 2022-07-01 | 法奥意威(苏州)机器人系统有限公司 | Robot display and control method and device and electronic equipment |
| CN116000932A (en) * | 2022-12-30 | 2023-04-25 | 节卡机器人股份有限公司 | Sports equipment control method, system, device, equipment and storage medium |
| CN116000932B (en) * | 2022-12-30 | 2024-04-26 | 节卡机器人股份有限公司 | Sports equipment control method, system, device, equipment and storage medium |
| CN116896684A (en) * | 2023-08-02 | 2023-10-17 | 广州颖上信息科技有限公司 | Virtual control system and method for stabilizer |
| CN116896684B (en) * | 2023-08-02 | 2024-05-17 | 广州颖上信息科技有限公司 | Virtual control system and method for stabilizer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107263473A (en) | A kind of man-machine interaction method based on virtual reality | |
| CN107272454A (en) | A kind of real time human-machine interaction method based on virtual reality | |
| CN108908330A (en) | Robot behavior control method based on virtual reality | |
| CN107291879A (en) | The method for visualizing of three-dimensional environment map in a kind of virtual reality system | |
| CN105589459B (en) | The semi-autonomous remote control method of unmanned vehicle | |
| CN103391422B (en) | A kind of video frequency monitoring method and equipment | |
| CN104057450A (en) | Teleoperation method of high-dimensional motion arm aiming at service robot | |
| CN105479468A (en) | Remote robot motion controller | |
| CN109434826A (en) | A kind of hot line robot control system | |
| CN109334543A (en) | Power line inspection system and method with cooperation of power inspection vehicle and unmanned aerial vehicle | |
| CN109782600A (en) | A method of autonomous mobile robot navigation system is established by virtual environment | |
| CN105204520B (en) | A kind of control method of unmanned vehicle | |
| CN110097589A (en) | A kind of depth complementing method applied to sparse map denseization | |
| CN111716365B (en) | Immersive remote interaction system and method based on natural walking | |
| CN105194877A (en) | Toy tank remotely controlled through first perspective | |
| CN109917813A (en) | Unmanned plane autonomous flight three-dimensional scenic display methods and terminal | |
| CN111438673A (en) | High-altitude operation teleoperation method and system based on stereoscopic vision and gesture control | |
| CN113687718A (en) | Man-machine integrated digital twin system and construction method thereof | |
| CN110977981A (en) | Robot virtual reality synchronization system and synchronization method | |
| CN106708087A (en) | Unmanned aerial vehicle mobile control system and control method thereof | |
| CN107703956A (en) | A kind of virtual interaction system and its method of work based on inertia capturing technology | |
| CN114407015A (en) | Teleoperation robot online teaching system and method based on digital twins | |
| CN116352714A (en) | Mechanical arm obstacle avoidance path planning method | |
| CN206445826U (en) | A kind of hot line robot data communication system | |
| CN108015786A (en) | A kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171020 |