North China Institute of Science and Technology

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JetsonXavierNX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 anemergency teleoperation robot system based on mixed reality helmets.The system consists of three modules, inwhich the mixed reality human-computer interaction interface and the digital twin of the interactive robot aredesigned.The field robot module is equipped with a McLun differential chassis vehicle, and NVIDIA's JetsonXavier NX developer kit is used to control the robot's movement, and the robotic arm with adaptive grippers isused to grab the target object.A data transfer platform is provided in the cloud server module, and the controlinstructions are transmitted in real time using a custom data protocol.The experimental results show that thehardware equipment of the system is lightweight, which can make full use of the experience and wisdom of theoperator, improve the rescue efficiency, ensure the safety of the rescuers, and further avoid casualties.

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