基于混合现实的应急遥操作机器人系统的研究  

Research on emergency teleoperation robot system based on mixed reality

作　　者：陈超[1] 万超纪 杨旭 何之洲 雷小武 聂衡莉 CHEN Chao;WAN Chaoji;YANG Xu;HE Zhizhou;LEI Xiaowu;NIE Hengli(North China Institute of Science and Technology,Yanjiao 065201,China)

机构地区：[1]华北科技学院,北京东燕郊065201

出　　处：《华北科技学院学报》2024年第5期44-50,共7页Journal of North China Institute of Science and Technology

基　　金：中央高校基本科研业务费资助(3142023068)。

摘　　要：为了避免灾害救援人员在救援过程中受到伤害,本文提出一种基于混合现实头盔的应急遥操作机器人系统。系统包含三个模块,在混合现实模块中设计了混合现实人机交互界面以及可交互的机器人的数字孪生体;在现场机器人模块中配置麦轮差速底盘车,应用英伟达的Jetson Xavier NX开发者套件控制机器人的运动,并利用搭配有自适应夹爪的机械臂抓取目标对象;在云服务器模块中提供了数据的中转平台,利用自定义数据协议实时传输控制指令。实验结果表明,该系统的硬件设备轻便,能够充分利用操作人员经验与智慧,可以提高救援效率,保障救援人员的安全,从而进一步避免人员伤亡。In order to avoid the injury of disaster rescuers during the rescue process,this paper proposes an emergency teleoperation robot system based on mixed reality helmets.The system consists of three modules,in which the mixed reality human-computer interaction interface and the digital twin of the interactive robot are designed.The field robot module is equipped with a McLun differential chassis vehicle,and NVIDIA's Jetson Xavier NX developer kit is used to control the robot's movement,and the robotic arm with adaptive grippers is used to grab the target object.A data transfer platform is provided in the cloud server module,and the control instructions are transmitted in real time using a custom data protocol.The experimental results show that the hardware equipment of the system is lightweight,which can make full use of the experience and wisdom of the operator,improve the rescue efficiency,ensure the safety of the rescuers,and further avoid casualties.

关 键 词：混合现实 应急机器人 遥操作 数字孪生 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]