CN-121989221-A - Remote operation control system and method for robot

CN121989221ACN 121989221 ACN121989221 ACN 121989221ACN-121989221-A

Abstract

The application provides a teleoperation control system and a teleoperation control method for a robot, and relates to the technical field of robots. The robot teleoperation control system comprises teleoperation equipment, control equipment and a controlled robot, wherein the teleoperation equipment comprises isomorphic bodies with the same joint configuration as a controlled structure of the controlled robot, the teleoperation equipment is in communication connection with the control equipment, the control equipment is in communication connection with the controlled robot, the control equipment receives motion information sent by the teleoperation equipment or the controlled robot and generates motion instructions based on joint mapping relations, the motion information of the teleoperation equipment is generated according to operation actions of the isomorphic bodies, the motion information of the controlled robot is generated according to automatic operation actions of the controlled structure of the controlled robot, and the control equipment is further used for sending motion instructions to equipment opposite to the motion information so that the isomorphic bodies of the teleoperation equipment and the controlled structure of the controlled robot execute the same actions. The application can realize the bidirectional control of teleoperation equipment and a controlled robot.

Inventors

XU ZHIYUAN
Liu Ruiwang
XIAO JIAN
LIU YIZHANG
JU XIAOZHU
CHE ZHENGPING
TANG JIAN
XIONG YOUJUN

Assignees

北京人形机器人创新中心有限公司

Dates

Publication Date: 20260508
Application Date: 20250331
Priority Date: 20241108

Claims (12)

1. The teleoperation control system of the robot is characterized by comprising teleoperation equipment, control equipment and a controlled robot, wherein the teleoperation equipment comprises isomorphic bodies with the same joint configuration as a controlled structure of the controlled robot, the teleoperation equipment is in communication connection with the control equipment, and the control equipment is in communication connection with the controlled robot; The control device is used for receiving the motion information sent by the teleoperation device or the controlled robot and generating a motion instruction based on the joint mapping relation between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, wherein the motion information of the teleoperation device is generated according to the operation action of the isomorphic body, and the motion information of the controlled robot is generated according to the automatic operation action of the controlled structure of the controlled robot; The control device is further configured to send the motion instruction to a device with opposite motion information, so that the isomorphic body of the teleoperation device and the controlled structure of the controlled robot perform the same action.
2. The robot teleoperation control system according to claim 1, wherein the teleoperation device is configured to generate first motion information according to an operation action of a user on the isomorphic body, and send the first motion information to the control device; The control device is configured to generate a forward motion control instruction of the controlled robot based on a joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot according to the first motion information, and send the forward motion control instruction to the controlled robot; the controlled robot is used for controlling the controlled structure to execute the same action as the isomorphic body action of the teleoperation equipment according to the forward motion control instruction.
3. The robotic teleoperation control system according to claim 2, wherein the controlled robot is configured to collect second motion information of the controlled structure when executing an automated job instruction and send the second motion information to the control device; The control device is configured to generate a reverse motion control instruction of the teleoperation device according to the second motion information based on a joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, and send the reverse motion control instruction to the teleoperation device; and the teleoperation equipment is used for controlling the isomorphic body to execute the action identical to the action of the controlled structure of the controlled robot according to the reverse motion control instruction.
4. A robotic teleoperation control system according to claim 2 or 3, characterized in that the teleoperation device further comprises a sensor, a signal driver and a signal transmission module; The sensor is used for detecting the movement of each joint of the isomorphic body and generating first movement information of each joint of the isomorphic body; The signal driver is used for collecting first motion information of each joint of the isomorphic body; the signal transmission module is used for sending the first motion information of each joint of the isomorphic body to the control equipment.
5. The robotic teleoperation control system according to claim 4, wherein the signal transmission module is further configured to receive a reverse motion control command sent by the control device and send the reverse motion control command to the sensor through the signal driver; the sensor is further used for controlling the isomorphic body to execute the same action as the controlled structure action of the controlled robot according to the reverse motion control instruction.
6. The robotic teleoperation control system according to claim 4, wherein the control device includes an instruction generation module; The instruction generation module is used for filtering the first motion information of each joint of the isomorphic body of the teleoperation device, performing joint mapping on the isomorphic body of the teleoperation device and the controlled structure of the controlled robot based on the joint mapping relation between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, determining the filtered motion information corresponding to each joint of the controlled structure of the controlled robot, generating a forward motion control instruction of each joint of the controlled structure of the controlled robot according to the filtered motion information corresponding to each joint of the controlled structure of the controlled robot, or The instruction generation module is used for filtering second motion information of each joint of a controlled structure of the controlled robot, performing joint mapping on the isomorphic body of the teleoperation device and the controlled structure of the controlled robot based on joint mapping relation between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, determining filtered motion information corresponding to each joint of the isomorphic body of the teleoperation device, and generating reverse motion control instructions of each joint of the isomorphic body of the teleoperation device according to the filtered motion information corresponding to each joint of the isomorphic body of the teleoperation device.
7. The robotic teleoperation control system of claim 6, wherein the instruction generation module is further configured to zero-position calibration each joint of the isomorphic body of the teleoperation device and the controlled structure of the controlled robot before joint mapping of the isomorphic body of the teleoperation device and the controlled structure of the controlled robot.
8. The robotic teleoperation control system according to claim 6, wherein the control device further comprises a hardware driver module; the hardware driving module is used for carrying out protocol conversion on forward motion control instructions of all joints of a controlled structure of the controlled robot according to the type of the controlled robot, or And the hardware driving module is used for carrying out protocol conversion on the second motion information of the controlled structure of the controlled robot according to the type of the controlled robot.
9. A robotic teleoperation control system according to claim 3, characterized in that the controlled structure of the controlled robot is provided with a joint module; The joint module is used for collecting second motion information of the controlled structure when the controlled robot executes an automatic operation instruction, and sending the second motion information to the control equipment.
10. The robotic teleoperation control system of claim 8, wherein the controlled structure of the controlled robot comprises a robotic arm, the isomorphic body of the teleoperation device comprises an isomorphic robotic arm having the same joint configuration as the robotic arm of the controlled robot; The controlled robot further comprises an executing mechanism positioned at the tail end of the mechanical arm, and the teleoperation equipment further comprises an executing controller positioned at the tail end of the isomorphic mechanical arm and corresponding to the executing mechanism of the controlled robot; the system comprises an execution controller, a signal driver, a signal transmission module, a control device and a control device, wherein the execution controller is used for generating execution information according to the operation action of a user on the execution controller; The control device comprises a control device, an instruction generation module, a hardware driving module, a control module and a control module, wherein the control device is used for controlling the type of a controlled robot, the instruction generation module is also used for generating a first execution control instruction of an execution mechanism of the controlled robot according to the execution information of an execution controller of the teleoperation device, and the hardware driving module is also used for carrying out protocol conversion on the first execution control instruction of the execution mechanism of the controlled robot according to the type of the controlled robot; in the controlled robot, the executing mechanism acts according to the first executing control instruction.
11. The robot teleoperation control system according to claim 10, wherein in the controlled robot, the executing mechanism executes a preset action according to execution of an automated job instruction, and transmits action information of the preset action to the control device; The control device comprises a control device, a hardware driving module, an instruction generating module, a remote operation device and a remote control device, wherein the control device comprises a control device, a control device and a remote control device, wherein the control device comprises a control module, a control module and a control module, wherein the control device is used for controlling the control device; In the teleoperation device, the signal transmission module is further configured to send the second execution control instruction generated by the control device to the execution controller through the signal driver, where the execution controller executes an operation action corresponding to a preset action of the execution mechanism according to the second execution control instruction.
12. A method of controlling teleoperation of a robot, characterized by being applied to a control device in a teleoperation control system of a robot according to any one of claims 1-11, the method comprising: Receiving motion information sent by the teleoperation equipment or the controlled robot, wherein the motion information of the teleoperation equipment is generated according to the operation action of the isomorphic body, and the motion information of the controlled robot is generated according to the automatic operation action of the controlled structure of the controlled robot; Generating a motion instruction based on joint mapping relation between isomorphic bodies of the teleoperation equipment and a controlled structure of a controlled robot according to the motion information; and sending the motion instruction to the equipment with the opposite motion information so as to enable the isomorphic body of the teleoperation equipment and the controlled structure of the controlled robot to execute the same action.

Description

Remote operation control system and method for robot Cross Reference to Related Applications The present application claims priority from chinese patent application serial No. 2024115967783, entitled "robotic teleoperation control system and method," filed in month 11, 2024, 08, the entire contents of which are incorporated herein by reference. Technical Field The application relates to the technical field of robots, in particular to a teleoperation control system and a teleoperation control method for robots. Background With the development of science and technology, in many situations and environments, people gradually adopt robots to replace human beings to perform field operation, and teleoperation robots are used as physical avatars of human workers, so that various problems encountered in the human operation process can be solved. In addition, teleoperation has also become an important data acquisition method, enabling researchers to demonstrate and record complex robotic tasks for subsequent body-specific intelligent correlation algorithms and model training. The existing teleoperation control system of the robot is mainly based on the action of teleoperation equipment, such as the action of capturing clothing, and controls the displacement of the robot through a remapping algorithm and a kinematic solution, but only can perform unidirectional control, namely the robot action is controlled through the teleoperation equipment, but the action of the robot cannot be reversely synchronized to the teleoperation equipment, so that in the process of automatic operation of the robot, a user cannot intervene in the operation process of the robot through the teleoperation equipment. Disclosure of Invention The application aims to overcome the defects in the prior art and provide a system and a method for controlling teleoperation of a robot so as to realize bidirectional control of teleoperation equipment and a controlled robot. In order to achieve the above purpose, the technical scheme adopted by the embodiment of the application is as follows: In a first aspect, an embodiment of the present application provides a teleoperation control system for a robot, including a teleoperation device, a control device, and a controlled robot, where the teleoperation device includes an isomorphic body having the same joint configuration as a controlled structure of the controlled robot, the teleoperation device is communicatively connected to the control device, and the control device is communicatively connected to the controlled robot; The control device is used for receiving the motion information sent by the teleoperation device or the controlled robot and generating a motion instruction based on the joint mapping relation between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, wherein the motion information of the teleoperation device is generated according to the operation action of the isomorphic body, and the motion information of the controlled robot is generated according to the automatic operation action of the controlled structure of the controlled robot; The control device is further configured to send the motion instruction to a device with opposite motion information, so that the isomorphic body of the teleoperation device and the controlled structure of the controlled robot perform the same action. Optionally, the teleoperated device further comprises a switch button; And the switching button is used for controlling the instruction transmission direction between the teleoperation equipment and the controlled robot. Optionally, the teleoperation device is configured to generate motion information according to an operation action of a user on the isomorphic body, and send first motion information to the control device; The control device is configured to generate a forward motion control instruction of the controlled robot based on a joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot according to the first motion information, and send the forward motion control instruction to the controlled robot; The controlled robot is used for executing the same action as the isomorphic body action of the teleoperation equipment according to the forward motion control instruction. Optionally, the controlled robot is configured to collect second motion information of the controlled structure when executing an automatic operation instruction, and send the second motion information to the control device; The control device is configured to generate a reverse motion control instruction of the teleoperation device according to the second motion information based on a joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, and send the reverse motion control instruction to the teleoperation device; and the teleo