面向遥操作手眼协调的虚拟仿真交互控制方法

Interaction control method of virtual simulation for hand-eye coordination in teleoperation

针对遥操作过程中,虚拟仿真场景的观察视角动态变化时,人机交互的易用性将严重影响操作效率的问题,提出一种面向遥操作手眼协调的虚拟仿真场景交互控制方法。通过坐标系变换的方式将遥操作运动控制指令进行映射变换后再发送给遥操作对象,实现在观察视角变化时,交互设备与虚拟显示视景中遥操作对象运动协调一致。通过Unity 3D搭建虚拟仿真场景进行实验验证,并与传统交互方式进行对比,结果表明所提方法使遥操作过程具有更高效的交互性。

Aiming at the problem that the usability of human-computer interaction will seriously affect the operation efficiency when the viewing angle of the virtual simulation scene changes in the process of teleoperation,a virtual scene interaction control method oriented to hand-eye coordination of teleoperation is proposed.The teleoperation instructions are mapped and transformed by the coordinate system transformation,and then sent to the controlled object,so that the motion of the controlled object in the virtual display simulation scene can be coordinated with the interactive device when the viewing angel changes.The virtual simulation scene is built by Unity 3D for experimental verification,and compared with the tradition interactive mode,the results show that the proposed algorithm makes the teleoperation process more efficient and interactive.