CN202825842U - Virtual engineering robotic system - Google Patents
Virtual engineering robotic system Download PDFInfo
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- CN202825842U CN202825842U CN 201220423898 CN201220423898U CN202825842U CN 202825842 U CN202825842 U CN 202825842U CN 201220423898 CN201220423898 CN 201220423898 CN 201220423898 U CN201220423898 U CN 201220423898U CN 202825842 U CN202825842 U CN 202825842U
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Abstract
The utility model provides a virtual engineering robotic system. The virtual engineering robotic system comprises a force feedback manipulating lever (1), a virtual engineering robotic controller (2), a projector device (3) and a screen (4), wherein the force feedback manipulating lever (1) which is used for changing the manipulating movement of a manipulator into a displacement setting signal of a virtual engineering robot and an engineering robot is connected with the virtual engineering robotic controller (2), the force feedback manipulating lever (1) changes a force feedback signal to an acting force and impacts the acting force on the manipulator, a signal output terminal of the virtual engineering robotic controller (2) is connected with the projector device (3), the projector device (3) projects the virtual engineering robot produced by the virtual engineering robotic controller (2) and a work target to the screen (4). The virtual engineering robotic system can effectively solve the system time delaying problem of the teleoperation engineering robot and is easy to control, convenient and practical.
Description
Technical field
The utility model is a kind of a kind of Virtual Engineering robot system for the robot field, and a kind of Virtual Engineering robot system that solves distant operation engineering robot system delay problem particularly belongs to the renovation technique of Virtual Engineering robot system.
Background technology
Distant operation engineering robot system refers to finish a kind of remote handling system of complex engineering job task under people's operation, it can help human in dangerous and extreme environment work.In the ideal case, in real time operation person's order of Engineering Robot.But because the working site of operator and Engineering Robot is distant, working environment is complicated and the restriction of communication bandwidth, there is delay problem inevitably in system, causes operator's order not react on Engineering Robot in real time.Because the hysteresis of time, the interactive information of construction machine human and environment (comprising image, power, displacement etc.) can not feed back to the operator in real time, thereby maloperation occurs.The existence of this long time delay has had a strong impact on Systems balanth, operability.
For the delay problem of remote control system, previous researcher adopts " mobile-as to wait for " strategy, i.e. the first mobile control stick once of operator waits the operator to feel after the force feedback of construction machine human and environment, more mobile control stick once.But this method operability is poor, and the force feedback effect is fuzzyyer.The scholar was arranged afterwards from the angle of control, and proposed many new schemes, basic thought is by adopting rational control algolithm to process power and the displacement information of remote control system main and slave terminal.At present, control algolithm relatively more commonly used has based on the scattering theory method, based on event methods, based on forecast Control Algorithm, based on the theoretical control method of H-∞, adaptive control law, shares submissive control method, LOG optimal controller etc.But above algorithm is only applicable to little time-delay system, the effect under long time delay or not obvious.At present, also do not find more effective method to solve delay problem.
Summary of the invention
The purpose of this utility model is to consider the problems referred to above and a kind of Virtual Engineering robot system that can effectively solve delay problem is provided.The utility model is reasonable in design, and is convenient and practical.The utility model control is simple and convenient.
The technical solution of the utility model is: Virtual Engineering robot system of the present utility model, include the force feedback control stick, the Virtual Engineering robot controller, projection arrangement, screen, wherein being used for the force feedback control stick that maneuvering motion with the operator is converted to the displacement setting signal of Virtual Engineering robot and Engineering Robot is connected with the Virtual Engineering robot controller, and the force feedback control stick is converted to the active force effect to the operator with force feedback signal, the signal output part of Virtual Engineering robot controller is connected with projection arrangement, and projection arrangement projects to screen with Virtual Engineering robot and the manipulating object that the Virtual Engineering robot controller generates.
Virtual Engineering robot system of the present utility model has following characteristics: when Virtual Engineering robot hand crawl manipulating object, the Virtual Engineering robot controller detects the collision behavior of paw and manipulating object, simultaneously the Virtual Engineering robot controller can also calculate the active force that paw and manipulating object collide mutually, and feeds back to the operator by the force feedback control stick; Since the operator can be directly position orientation relation by the Virtual Engineering robot on the view screen and manipulating object operate Virtual Engineering robot and the Engineering Robot task that fulfils assignment, need not wait for the information that distant place Engineering Robot operation field feeds back, therefore can solve the delay problem that distant operation engineering robot system exists.The utility model is that a kind of design is ingenious, function admirable, convenient and practical Virtual Engineering robot system.
Description of drawings
Fig. 1 is schematic diagram of the present utility model.
The specific embodiment
Embodiment:
Structural representation of the present utility model as shown in Figure 1, Virtual Engineering robot system of the present utility model, include force feedback control stick 1, Virtual Engineering robot controller 2, projection arrangement 3, screen 4, wherein being used for the force feedback control stick 1 that maneuvering motion with the operator is converted to the displacement setting signal of Virtual Engineering robot and Engineering Robot is connected with Virtual Engineering robot controller 2, and force feedback control stick 1 is converted to the active force effect to the operator with force feedback signal, the signal output part of Virtual Engineering robot controller 2 is connected with projection arrangement 3, and projection arrangement 3 projects to screen 4 with Virtual Engineering robot and the manipulating object that Virtual Engineering robot controller 2 generates.
The operation principle of the utility model Virtual Engineering robot system is as follows:
1) operator is in the face of screen 4, Virtual Engineering robot and manipulating object on the view screen 4;
2) operator's steering force feedback control stick 1 is passed to Virtual Engineering robot controller 2 and Engineering Robot controller with the displacement setting signal, control Virtual Engineering robot and Engineering Robot motion and crawl manipulating object;
3) when Virtual Engineering robot hand crawl manipulating object, Virtual Engineering robot controller 2 detects the collision behavior of paw and manipulating object, simultaneously Virtual Engineering robot controller 2 can also calculate the active force that paw and manipulating object collide mutually, and feeds back to the operator by force feedback control stick 1; Since the operator can be directly position orientation relation by the Virtual Engineering robot on the view screen 4 and manipulating object operate Virtual Engineering robot and the Engineering Robot task that fulfils assignment, need not wait for the information that distant place Engineering Robot operation field feeds back, therefore can solve the delay problem that distant operation engineering robot system exists.
Claims (1)
1. Virtual Engineering robot system, it is characterized in that including force feedback control stick (1), Virtual Engineering robot controller (2), projection arrangement (3), screen (4), wherein being used for the force feedback control stick (1) that maneuvering motion with the operator is converted to the displacement setting signal of Virtual Engineering robot and Engineering Robot is connected with Virtual Engineering robot controller (2), and force feedback control stick (1) is converted to the active force effect to the operator with force feedback signal, the signal output part of Virtual Engineering robot controller (2) is connected with projection arrangement (3), and projection arrangement (3) projects to screen (4) with Virtual Engineering robot and the manipulating object that Virtual Engineering robot controller (2) generates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220423898 CN202825842U (en) | 2012-08-24 | 2012-08-24 | Virtual engineering robotic system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220423898 CN202825842U (en) | 2012-08-24 | 2012-08-24 | Virtual engineering robotic system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202825842U true CN202825842U (en) | 2013-03-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220423898 Expired - Fee Related CN202825842U (en) | 2012-08-24 | 2012-08-24 | Virtual engineering robotic system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202825842U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102814815A (en) * | 2012-08-24 | 2012-12-12 | 广东工业大学 | Virtual engineering robot system and control method |
-
2012
- 2012-08-24 CN CN 201220423898 patent/CN202825842U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102814815A (en) * | 2012-08-24 | 2012-12-12 | 广东工业大学 | Virtual engineering robot system and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20130824 |