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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 large transmission delay, large amount of video information, and difficulty in delay compensation, and achieves improved work efficiency, small feedback transmission delay, and safety. The effect of reliable work

Inactive Publication Date: 2012-12-12
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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Examples

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Effect test

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 3 data 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 simultaneously connected with the virtual operation model 7 and the virtual feedback model 8 of the video display 5, the data comparison 6 and the overlay 13; the server 2 includes a remote robot control unit 9, and the The remote robot control unit 9 is connected to a remote robot 10 , and the remote robot 10 is connected to a data collection unit 11 and a 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, in the operation flow described, two virtual models are superimposed and displayed in the same display window—a virtual operation model and a virtual virtual feedback model;

[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 robot, while the motion of the virtual virtual feedback model It is controlled by the motion feedback information of the remote robot;

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

Embodiment 3

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

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

[0039] (2) If the virtual operation model satisfies the corresponding operation requirements, the client sends the operation command to the remote real remote robot, and the real remote robot moves and sends back data to the virtual virtual feedback model in real time...

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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 in particular relates to a novel remote-operated remote robot console. Background technique: [0002] At present, human-computer interaction technology is still one of the research hotspots of remote robot control system. The traditional master-slave human and interactive control system is usually considered as an effective teleoperation method. In fact, it is a human-machine cooperation system. It uses human intelligence and experience to complete operations in complex environments, and its operation quality is controlled by the operator. It was decided that not only would it take a long time to train the operators, but also the operators would be labor-intensive, prone to fatigue, and difficult to complete high-precision operations. [0003] The development of the virtual reality system has promoted the AR technology, which generates a virtual environment through the computer...

Claims

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Application Information

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Patent Type & Authority Patents(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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