An Intelligent Interaction Framework for Teleoperation Based on Human-Machine Cooperation

Most existing teleoperation technologies cannot guide robots to complete tasks quickly and accurately in unstructured environments. Therefore, this article proposes an intelligent interaction framework for teleoperation based on human-machine cooperation. The framework is divided into three layers: 1) perception, 2) decision-making, and 3) execution layers. In the perception layer, machines require high-precision environmental information, and human interaction requires rapid feedback on environmental changes. Therefore, a fast three-dimensional reconstruction method combining rough reconstruction and fine reconstruction is proposed. In the decision-making layer, a bare-hand interaction method based on natural interaction and an alignment assistance method based on constraint recognition are proposed. The combination of these two methods realizes the coordinated control of robot movement by humans and computers. In the execution layer, a vision-based error compensation method for assistance is proposed to decrease measurement errors and delays and reduce differences between virtual and real scenes. Finally, experimental results obtained by 15 nonprofessional volunteers show that the proposed method is efficient and user friendly.