基于听觉反馈的主从式重载液压臂辅助操控方法  

Operation Assistance Method of Master-slave Heavy-duty Hydraulic Manipulator based on Auditory Feedback

作　　者：程敏[1] 涂恺文 丁孺琦 徐兵[3] CHENG Min;TU Kaiwen;DING Ruqi;XU Bing(State Key Laboratory of Mechanical Transmissions,Chongqing University,Chongqing 400044;Key Laboratory of Vehicles and Equipment,Ministry of Education,East China Jiaotong University Nanchang 330013;State Key Laboratory of Fluid Power and Mechatronic systems,Zhejiang University,Hangzhou 310027)

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044 [2]华东交通大学载运工具与装备教育部重点实验室,南昌330013 [3]浙江大学流体动力与机电系统国家重点实验室,杭州310027

出　　处：《机械工程学报》2022年第18期150-158,共9页Journal of Mechanical Engineering

基　　金：国家自然科学基金(U21A20124,52075055);浙江省重点研发计划(2022C01039);重庆市自然科学基金(cstc2020jcyj-msxm X0780)资助项目。

摘　　要：多自由度液压臂的主从式位置控制方式相比传统关节速度操控方式具有操作直观、交互自然等优点,但大惯量响应滞后特性带来操控作业效率低、环境碰撞风险高等问题。为此,提出一种基于听觉反馈的主从式重载液压臂辅助操控方法,其基本原理为将主从位置误差映射为不同响度和音调的声音信号并反馈给操作者,目的是一方面在新手操作培训中提高学习效率,另一方面在实际任务场景中提高操控性能。建立基于样机实测数据的主从式重载液压臂虚拟现实操控平台,设计出听觉反馈的人机交互辅助操控界面,征集了40名新手受试者参与试验研究与性能评估。对比试验结果表明,在新手培训环节中,该听觉反馈辅助操控方法能使操作训练次数减少24.7%,从而帮助新手更快掌握操作技能;在实际作业场景中,该方法能平均降低8.8%的任务完成时间,并平均减少22.7%的环境碰撞次数,从而提高作业效率并降低环境碰撞风险。Master-slave position control of multi-degree-of-freedom(Multi-DOF) heavy-duty hydraulic manipulator(HHMs) has the advantages of intuitive operation and natural human-machine interaction, compared with separate joint rate control. However, the properties of slow dynamic and response relay result in the problem of low operational efficiency and high collision risks. To overcome this problem, an operation assistance method based on auditory feedback is proposed. The basic concept is to transfer the master-slave position error to an auditory cue with different tones and volume levels, with the aim of improving the training efficiency for the novices, and enhance the operation performance of skilled operators in actual working scenes. A virtual reality control platform for the Multi-DOF HHM is established, and a human-machine interface with auditory feedback is designed for operation assistance. Forty participants are recruited to carry out comparison tests and performance evaluation. The test results indicate that the auditory feedback method is effective for novice operators to master the operation skills of the HHM more quickly with 24.7 % less average training times. Moreover, the proposed method is also beneficial for the skilled operator to implement the required task with 8.8% less completion time and 22.7% less collision times with the surroundings, compared with the result without auditory feedback.

关 键 词：液压重载臂 响应滞后 虚拟现实 听觉反馈 人机界面 

分 类 号：TG156[金属学及工艺—热处理]