基于虚拟环境的多操作者多机器人协作遥操作系统

Virtual Environment-Based Multi-Operator Multi-Robot Cooperative Teleoperation System

建立了基于虚拟环境的多操作者多机器人协作遥操作系统,采用3层C/S结构的控制系统软件构架.根据实验系统平台工作场景对分布式虚拟环境进行建模,以实现多操作者对多机器人的分布式控制.结合多操作者多机器人遥操作系统的结构特点,采用本地滞后原理对分布式虚拟环境的一致性控制进行了研究,解决了遥操作系统一致性控制中时钟同步、滞后时间、状态修复等问题.最后在提出的系统平台上进行了不同协作类型的多机器人协调控制实验,操作者与虚拟环境进行交互,在力反馈及实时多视频图像反馈辅助下,实时地观察作业环境并控制机器人运动,安全、高效地完成了作业任务,验证了该系统的合理性和有效性.

A virtual environment-based multi-operator multi-robot cooperative teleoperation system is proposed,and the software framework of control system with three layered C/S（client/server） structure is adopted.The model of distributed virtual environment is built according to work scene of the experimental platform for accomplishing distributed control of multiple robots by multiple operators.Based on the structure of multi-operator multi-robot teleoperation system,a method based on local lag is presented to realize consistency control in distributed virtual environment,and the problems of clock synchronization,lag time and state repairing in teleoperation system are overcome.Finally,multi-robot cooperative control experiment including different types of cooperation is conducted on the proposed platform,and interaction between the operator and virtual environment is achieved.The operator interacts with virtual environment,observes the task environment and controls the robots in real time with the aid of real-time multi-video image feedback and force feedback,and completes the given task safely and efficiently,which verifies the reasonability and feasibility of the system.