The invention belongs to the technical field of robot teleoperation, and particularly relates to a flying mechanical arm real-time teleoperation system and a control method based on live-action reconstruction, in particular to a flying mechanical arm real-time teleoperation system and a control method. The invention aims to solve the problems of low operation accuracy and poor safety when a flying mechanical arm executes high-altitude operation. The flying mechanical arm real-time teleoperation system based on live-action reconstruction comprises a ground end and a sky end. The ground end comprises VR equipment and a ground station host; the sky end comprises an airborne computer, a motion controller and a flying mechanical arm; the VR equipment comprises a head-mounted display, a motion tracker, a handle controller and a positioner; the ground station host comprises a host 1 and a host 2; the airborne computer depends on a Linux system and is developed based on ROS; the motion controller comprises a flight controller and a mechanical arm controller; the flying mechanical arm is composed of an aircraft, a mechanical arm body and a binocular camera.
基于实景重建的飞行机械臂实时遥操作系统及控制方法,本发明属于机器人遥操作技术领域,具体涉及飞行机械臂实时遥操作系统及控制方法。本发明的目的是为了解决飞行机械臂在执行高空作业时,操作准确性低和安全性差的问题。基于实景重建的飞行机械臂实时遥操作系统包括地面端与天空端;所述地面端包括VR设备与地面站主机;所述天空端包括机载电脑、运动控制器与飞行机械臂;所述VR设备包括头戴显示器、运动跟踪器、手柄控制器以及定位器;所述地面站主机包括主机1和主机2;所述机载电脑依赖Linux系统并基于ROS开发;运动控制器包括飞行控制器与机械臂控制器;飞行机械臂由飞行器、机械臂与双目相机组成。
Real-scene reconstruction-based flight mechanical arm real-time teleoperation system and control method
基于实景重建的飞行机械臂实时遥操作系统及控制方法
2024-10-25
Patent
Electronic Resource
Chinese
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