大时延环境下的虚拟现实临场感遥操作系统

Long Time Delay Telerobotic System with Telepresence Based on Virtual Reality

系统地讨论了基于虚拟现实技术的机器人无线遥控系统,并以液压伺服驱动的工程机器人为研究对象,搭建了具有临场感的机器人遥操作平台.针对遥操作中普遍存在的时延问题,采取视频监控与虚拟现实相结合的技术,通过在控制回路中引入仿真机器人和虚拟环境来解决.基于虚拟现实的遥操作,操作人员直接面向虚拟场景中的图形机器人来完成遥控作业任务,而现场端的视频信息反馈只起到辅助监控的目的,这样就可以利用图形机器人对操作者输入指令的即时响应来避开底层通讯时延的影响,现场机器人的动作是经过一定时间延迟后图形机器人运动的再现.实验表明,本系统可以较好地实现大时延遥操作中的临场感作业.

The wireless telerobotic system based on virtual reality is presented in great detail.And we have constructed a telepresence teleoperation platform taking the construction robot driven by electro hydraulic ser- vo as the research target,which realized the remote control of construction robot.Considering the time delay problem existing widely in the teleoperation system,the virtual reality technology assisted with telepresence is applied in this article to overcome the disadvantage of the long time delay,which can be realized by the combi- nation of video monitoring and the graphic robot as well as the virtual environment.In such a system,the oper- ator accomplish the telecontrol task facing directly the simulation robot in the virtual environment,and the feedback of the video information from the local field contributes an auxiliary function only.Becase of the com- mand of the operator could be responsed by the graphic robot immediately with no time delay,and the move- ment of the real robot is the reappearance of the simulating robot.It is a valid solution of the long time delay in a teleoperation system as the experiment shows.