基于视觉指导的共享远程操作控制用于液压操纵器
Shizhao Zhou1, Chong Shen2, Manzhi Qi2
1School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China; The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310058, China.
ISA transactions
|February 8, 2026
概括
这项研究引入了用于液压操纵器的共享远程操作控制,即使在视觉障碍的情况下,也提高了精度和效率. 该系统提高了视觉指导可靠性,使远程控制操作更安全,更准确.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 人与计算机的交互
背景情况:
- 液压操纵器在危险环境中至关重要,例如海洋勘探和林业.
- 由于高扭矩风险,偏远操作是首选的,但主-奴隶异质性和封闭视野 (FOV) 限制了效率和精度.
- 现有的视觉指导系统在可变的成像条件和目标遮蔽方面扎,影响指挥可靠性.
研究的目的:
- 为液压操纵器设计基于视觉指导的共享远程操作控制系统.
- 通过解决主-奴隶异质性和FOV封闭问题来提高运营效率和精度.
- 在具有挑战性的条件下提高视觉指导命令的可靠性.
主要方法:
- 开发了一种适应性命令映射方法,以平衡速度和准确性.
- 实现了功能不匹配纠正和故障识别,以提高视觉指导的可靠性.
- 设计了一种双指令的融合控制方法,用于集成优化指令.
主要成果:
- 拟议的自适应指挥映射有效平衡指挥速度和准确性.
- 功能不匹配纠正和故障意识显著提高视觉指导命令的可靠性.
- 双指令融合控制可实现优化指令的无集成,以便共享远程操作.
结论:
- 设计的共享远程操作控制系统确保了液压操纵器的强大性能.
- 系统保持高运行性能,即使操作员的FOV被封闭.
- 这种方法提高了复杂环境中远程液压操纵器操作的安全性和有效性.
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