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Novel remote operation far-end robot control platform and method

A technology for controlling platforms and robots, applied in manipulators, manufacturing tools, etc., can solve the problems of difficult time delay compensation, large transmission delay, and large amount of video information, so as to achieve safe and reliable operation, improve operation efficiency, and feedback transmission time. delay effect

Inactive Publication Date: 2011-07-13
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But it still has certain deficiencies: 1) Video fusion technology relies on the fusion display of virtual model and video for control, the transmission of video information has a large amount of information and a large transmission delay, and it is not easy to perform delay compensation; 2) After video fusion The coordinates of the camera are not easy to change, so the error observed from a certain angle may not necessarily reflect the real error. If only video fusion technology is used, the homework cannot be completed well.

Method used

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  • Novel remote operation far-end robot control platform and method
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  • Novel remote operation far-end robot control platform and method

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0025] A new type of teleoperation remote robot control platform, which consists of a client terminal 1 and a server 2. The client terminal 1 transmits data 3 to the server 2 through the network, and the client terminal 1 includes a human-computer interaction device 4 The human-computer interaction device 4 is connected to the video display 5, the data comparison 6 and the virtual operation model 7 and the virtual feedback model 8 superimposed together at the same time; the server 2 includes a remote robot control unit 9, the The remote robot control unit 9 is connected to the remote robot 10, and the remote robot 10 is connected to the data acquisition unit 11 and the video monitoring device 12.

[0026] In the novel teleoperation remote robot control platform, the virtual operation model and the virtual feedback model are connected to video display, and the virtual feedback model is connected to data comparison.

Embodiment 2

[0028] In the operation method of the novel teleoperation remote robot control platform described in Embodiment 1, the operation process is to superimpose and display two virtual models—a virtual operation model and a virtual virtual feedback model—on the same display window;

[0029] The virtual virtual feedback model is synchronized with the motion of the real remote robot. The operator simulates the motion of the remote robot through the virtual operation model, and sends the motion information to the remote remote robot, and the virtual virtual feedback model's motion It is controlled by the motion feedback information of the remote robot;

[0030] The feedback information is real-time joint motion sensor information, with small data and small time delay, and the accumulated motion error caused by the time delay can be compensated by model angle compensation, so that the motion of the virtual virtual feedback model and the motion status of the real remote robot be consistent;

...

Embodiment 3

[0037] The operation method of the novel teleoperation remote robot control platform described in embodiment 1 or 2, the operation flow is,

[0038] (1) Turn on the system servo power, plan the remote robot's operating trajectory, and the client side controls the virtual operating model, and observe whether its running trajectory meets the operating requirements, including whether the obstacle avoidance is smooth and the final pose positioning is accurate. If you want to observe the movement status of the virtual operation model in detail, select the drawing trajectory to draw a detailed trajectory, and you can get a clear trajectory of the virtual operation model in the display window.

[0039] (2) If the virtual operation model meets the corresponding job requirements, the client side sends running instructions to the remote real remote robot, and the real remote robot moves at the same time and sends data back to the virtual virtual feedback model in real time to ensure that the ...

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Abstract

The invention discloses a novel remote operation far-end robot control platform and a method. The conventional master-slave type man-machine interaction control system is usually recognized an as effective remote operation method, but the operation quality of the conventional master-slave type man-machine interaction control system is determined by operators, so long time is needed to train the operators, and the operators, who work in large labor intensity, go fatigue easily and cannot complete high-precision operation. In the invention, the control platform comprises a client (1) and a server (2), wherein the client transmits data to the server (3) through a network and comprises man-machine interaction equipment (4) which is connected with a video display(5), a data comparator (6), anda virtual operation model (7) and a virtual feedback model (8), which are connected together, at the same time; and the server comprises a far-end robot control unit (9) which is connected with a far-end robot (10) that is connected with a data acquisition unit (11) and video monitoring equipment (12). The control platform and the method are used for remote control and operation of the robot.

Description

Technical field: [0001] The invention belongs to the technical field of remote robot control, and specifically relates to a new type of teleoperation remote robot console. Background technique: [0002] At present, human-computer interaction technology is still one of the research hotspots of remote robot control systems. The traditional master-slave human and interactive control system is usually considered to be an effective remote operation method. In fact, it is a human-machine collaboration system that uses human intelligence and experience to complete tasks in complex environments. The quality of operation is determined by the operator It was decided that not only did it take a long time to train operators, but also that the operators had high labor intensity at work, were prone to fatigue and were difficult to complete high-precision operations. [0003] The development of virtual reality systems has promoted AR technology, which generates a virtual environment through a co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J19/00
Inventor 李东洁尤波邹宇肖万哲
Owner HARBIN UNIV OF SCI & TECH
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