CN106003053A - Teleoperation passive robot control system and control method thereof - Google Patents
Teleoperation passive robot control system and control method thereof Download PDFInfo
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- CN106003053A CN106003053A CN201610617043.3A CN201610617043A CN106003053A CN 106003053 A CN106003053 A CN 106003053A CN 201610617043 A CN201610617043 A CN 201610617043A CN 106003053 A CN106003053 A CN 106003053A
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- human body
- robot
- control system
- master control
- main side
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
Abstract
The invention relates to the technical field of robot control systems and discloses a teleoperation passive robot control system and a control method thereof. The system comprises a main terminal body posture acquisition unit and a slave terminal robot, wherein the main terminal body posture acquisition unit comprises a main terminal main control board and multiple acquisition boards capable of detecting the movement posture of each joint of a human body in real time, and the acquisition boards are all electrically connected with the main terminal main control board; quaternions capable of representing the movement posture of each joint of the human body are acquired through the acquisition boards respectively, the quaternions are transmitted to the main terminal main control board and then solved through the main terminal main control board by means of a human body posture resolving algorithm, so that electrical signals representing the angles of joints of the human body are obtained, the electrical signals are transmitted to a slave terminal main control board of the slave terminal robot, and then the slave terminal robot can make corresponding movement postures along with the human body. The system has the advantages that control can be achieved directly, and man-machine interaction smoothness is high.
Description
Technical field
The present invention relates to robot control system technical field, particularly relate to a kind of remote operating with
Mobile robot control system and control method thereof.
Background technology
Along with to development of resources, nuke rubbish cleaning, high pressure high-risk operations, surgical operation and health
The continuous expansion of the work requirements such as multiple nursing, research remote operating controls technology so that it is substitutes people and comes
The demand completing corresponding Special Work is more urgent.Wherein, remote operating control technology is particularly suitable for
Be applied to people be difficult to close to or harmful unstructured moving grids operation, and too
Be applicable to the fields such as Medical nursing.That is, operator can be in the environment of safety convenient, remotely
Operate and carry out operation from end robot.
At present, relatively broad remote operating control mode is used to be mainly by building main side machine
People and from end robot, utilize the experience of operator, combine from hold robot feedback information,
The relative motion from end robot is realized by controlling the motion of main side robot.
But, existing remote operating control system is corresponding main side robot owing to needs are equipped with,
Thus, exist so that remote operating control system is numerous and diverse and can not directly control from end robot
Make and the problem of main side robot same action.
Summary of the invention
(1) to solve the technical problem that
It is an object of the invention to provide a kind of remote operating passive robot control system and control thereof
Method is numerous and diverse and can not be direct to solve remote operating control system present in prior art
Ground controls to make and the problem of main side robot same action from end robot.
(2) technical scheme
In order to solve above-mentioned technical problem, according to the first aspect of the invention, it is provided that Yi Zhongyao
Operation passive robot control system, including: the main side human body attitude can being worn on human body
Collecting unit, described main side human body attitude collecting unit includes main side master control borad and can examine in real time
Surveying multiple collection plates of the movement posture of each joint part of human body, each described collection plate is all with described
Main side master control borad electrical connection；And from end robot；Wherein, by each described collection plate respectively
Acquisition can represent the quaternary number of the movement posture of each joint part of human body, and by each described four
Unit's number is transferred to described main side master control borad respectively, utilizes human body attitude by described main side master control borad
Each described quaternary number is resolved by computation, to obtain representing each joint part of human body
The signal of telecommunication of joint angles, and this signal of telecommunication is transferred to described from end robot from end master control
Plate, can follow human body so that described make identical movement posture from end robot.
Wherein, described control system also includes being arranged on described institute from the trunk of end robot
State from end master control borad, wherein, described from end master control borad and the master control borad wireless connections of described main side.
Wherein, described control system also includes being separately positioned on the described mechanical hand from end robot
The joint angles execution unit of each joint part of arm, each described joint angles execution unit is equal
Electrically connect from end master control borad with described.
Wherein, described control system also includes the binocular being arranged on the described head from end robot
Vision acquisition module, described binocular vision acquisition module includes the image that can obtain present image
Obtain submodule and the transmitting submodule electrically connected with described Image Acquisition submodule, wherein, institute
State Image Acquisition submodule and presently described image is passed to described transmitting as electronic signals
Submodule.
Wherein, described main side human body attitude collecting unit also includes binocular vision image-forming module, institute
State binocular vision image-forming module and described transmitting submodule wireless connections.
Wherein, described control system also includes can connecting the described head from end robot respectively
And the angular turn parts of trunk, described angular turn parts are electrically connected from end master control borad with described
Connect.
Wherein, the described end of mechanical arm from end robot be provided with can promote coupled
The execution unit connect carries out the actuator interface of five degree of freedom motion, described actuator interface
Electrically connect from end master control borad with described.
Wherein, each described joint angles execution unit is steering wheel or servomotor.
Wherein, described control system also includes driving the described walking from end robot ambulation
Module.
According to the second aspect of the invention, it is proposed that a kind of remote operating passive robot controls system
The control method of system, including: obtained respectively by each described collection plate and can represent each of human body
The quaternary number of the movement posture of joint part, and this quaternary number is transferred to the master control of described main side
Plate；
Use human body attitude computation that each described quaternary number is entered by described main side master control borad
Row resolves, to obtain representing the signal of telecommunication of the joint angles of each joint part of human body；
The electricity of the joint angles of each joint part of human body will be represented by described main side master control borad
Signal is transferred to described from end master control borad；
The electricity of the described joint angles receiving each joint part representing human body from end master control borad
After signal, the described corresponding site from end robot of control is followed human body and is made identical with human body
Movement posture.
Wherein, each described collection plate is by using inertial navigation technology can represent to obtain respectively
The information of the movement posture of each joint part of human body, and by this information with the form table of quaternary number
Show.
(3) beneficial effect
The control system that the present invention provides, compared with prior art has the advantage that
The control system of the application is by being worn on user by main side human body attitude collecting unit
Body on, being obtained respectively by each collection plate in the human body attitude collecting unit of main side can generation
The quaternary number of the movement posture of each joint part of table human body, and each quaternary number is transferred to respectively
Main side master control borad, utilizes human body attitude computation to carry out each quaternary number by main side master control borad
Resolve, to obtain representing the signal of telecommunication of the joint angles of each joint part of human body, and by this electricity
Signal be transferred to from end robot from end master control borad so that from end robot can follow
Human body makes identical movement posture.So, for existing control system, i.e.
Existing control system needs for from end robot specialized designs main side robot.But, this Shen
It is the most then directly by main side human body attitude collecting unit is worn on human body, thus controls
Action from end robot.As can be seen here, the control system of the application can more directly be controlled
Make the action from end robot, thus greatly increase the compliance of man-machine interaction.
Additionally, due to be typically located at the working environment of danger from end robot, thus, for carrying
The portability of high control system, need to make the parts in this control system the fewest more good.But,
The control system of the application is owing to eliminating main side robot of the prior art, so that control
The composition of system processed is more simplified, convenient to the control from end robot.
It addition, by setting up walking module, this walking module can be wheel undercarriage so that from end
Robot may be adapted to move neatly in indoor environment, or this walking module is crawler belt
Formula chassis, thus there is the advantage that obstacle performance is good so that may be adapted to out of office from end robot
External environment is walked.
Accompanying drawing explanation
Fig. 1 is the overall structure of the remote operating passive robot control system of embodiments herein
Schematic diagram；
Fig. 2 be the remote operating passive robot control system of embodiments herein from terminal device
The overall structure schematic diagram of people；
Fig. 3 is the overall structure schematic diagram of the mechanical arm from end robot in Fig. 2.
Fig. 4 is that the remote operating passive robot control system using the application controls from terminal device
The steps flow chart schematic diagram of the control method of people.
In figure, 100: control system；1: main side human body attitude collecting unit；11: main side master
Control plate；12: collection plate；13: binocular vision image-forming module；2: from end robot；21:
Trunk；211: from end master control borad；22: mechanical arm；221: execution unit；23: head；
3: joint angles execution unit；4: binocular vision acquisition module；41: Image Acquisition submodule；
42: launch submodule；5: angular turn parts；6: actuator interface；7: walking mould
Block；222: shoulder pitch joint；223: shoulder driftage joint；224: shoulder roll joint；
225: ancon pitching joint；226: ancon roll joint；227: wrist driftage joint；228:
Digital flexion joint.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the detailed description of the invention of the present invention is made the most in detail
Describe.Following instance is used for illustrating the present invention, but is not limited to the scope of the present invention.
As it is shown in figure 1, Fig. 1 show schematically show this control system 100 includes main side human body
Posture acquisition unit 1 and from end robot 2.
This main side human body attitude collecting unit 1 mainly utilize human body attitude remote real_time control from
End robot 2 makes the action identical with human body attitude, i.e. make slave end robot 2 energy
Enough follow the action of human body and move.So, just greatly increase the compliance of man-machine interaction,
Can more directly control to make the movement posture identical with human body from end robot 2.
This main side human body attitude collecting unit 1 can be worn on human body, and it includes main side master control
Plate 11 and multiple collection plates 12 of movement posture of each joint part of human body can be detected in real time.
Wherein, each collection plate 12 all electrically connects with main side master control borad 11.So, gathered by each
The information of each joint part of the human body that plate 12 collects can pass to main side master control in time
Plate 11.Specifically, obtained respectively by each collection plate 12 and can represent each joint portion of human body
The information of the movement posture of position, and this information is represented with the form of quaternary number, and by each four
Unit's number is transferred to main side master control borad 11 respectively, utilizes human body attitude solution by main side master control borad 11
Calculate algorithm each quaternary number to be resolved, to obtain representing the joint angle of each joint part of human body
Degree the signal of telecommunication, and this signal of telecommunication is transferred to from end robot 2 from end master control borad 21,
So that human body can be followed from end robot 2 make identical movement posture.So, phase
For existing control system, i.e. existing control system needs for special from end robot
Door designs main side robot.But, the application is then directly by by main side human body attitude collection
Unit 1 is worn on human body, thus controls the action from end robot 2.As can be seen here,
The control system 100 of the application can more directly control the action from end robot 2, from
And greatly increase the compliance of man-machine interaction.
Further, since be typically located at the working environment of danger from end robot 2, thus, for
Improve the portability of control system, the parts in this control system need to be made the fewest more good.But,
The control system 100 of the application owing to eliminating main side robot of the prior art so that
The composition obtaining control system 100 is more simplified, convenient to the control from end robot 2.
In embodiments herein, quaternary number and human body attitude computation are this areas
Well known to technical staff, for the sake of saving length, it is not detailed herein.
In a specific embodiment, collection plate 12 can be distributed in the head of human body, back,
The positions such as left large arm, left forearm, left hand, right large arm, right forearm and the right hand, thus side
Just the movement posture at corresponding joint position is gathered.
As shown in Figure 1, Figure 2 and Figure 3, in one embodiment, Fig. 2 schematically shows
It is main from end that this control system 100 also includes being arranged on from the trunk 21 of end robot 2
Control plate 211, wherein, slave end master control borad 211 and main side master control borad 11 wireless connections.That is,
Slave end master control borad 211 and main side master control borad 11 can realize the biography of information by radio signal
Defeated.So, each joint part of representative human body received by main side master control borad 11
The signal of telecommunication radio to from end master control borad 211 after, thus control from end robot 2 make with
The movement posture that human body is identical.Easy to understand, in order to more directly control from terminal device
The motion of people 2, need to make the angle of each joint part of representative human body that each collection plate 12 obtains
All corresponding with the angle of each joint part from end robot 2, thus ensure what human body was made
Movement posture and the concordance from the movement posture holding robot 2 to make.
As it is shown on figure 3, in one embodiment, Fig. 3 also schematically shows this control system
System 100 also includes each joint portion being separately positioned on the mechanical arm 22 from end robot 2
Position joint angles execution unit 3, each joint angles execution unit 3 all with from hold master control borad 211
Electrical connection.So, slave end master control borad 211 just can directly control the execution of each joint angles
Parts 3 make satisfactory action, further so that the action of mechanical arm 22 is more
Add is flexible.
As it is shown on figure 3, in a specific embodiment, joint angles execution unit 3 can be from
Be sequentially distributed down in the shoulder pitch joint 222 of mechanical arm 22, shoulder goes off course joint
223, shoulder roll joint 224, ancon pitching joint 225, ancon roll joint 226, wrist
Driftage joint, portion 227 and digital flexion joint 228.Thus realize mechanical arm the most respectively
22 swing relative to before and after trunk 21, and the both sides of the relative trunk 21 of mechanical arm 22 are outside
Forearm in extension, mechanical arm 22 is close or remote relative to the left-right rotation of large arm, forearm
From the motion of large arm, forearm carries out rotating around self central axis, wrist is carried out relative to forearm
Swing and realize the bending of each finger.
As in figure 2 it is shown, in one embodiment, Fig. 3 also schematically shows this control system
100 also include the binocular vision acquisition module 4 being arranged on the head 23 from end robot 2, this pair
Visually feel Image Acquisition submodule 41 that acquisition module 4 includes obtaining present image and with figure
As obtaining the transmitting submodule 42 of submodule 41 electrical connection.Wherein, Image Acquisition submodule 41
Pass to present image as electronic signals launch submodule 42.So, just realize right
The real-time acquisition of site environment.
In a specific embodiment, this binocular vision acquisition module 4 can be that binocular vision is taken the photograph
As head, it is set directly on angular turn parts 5 as described below.
As it is shown in figure 1, main side human body attitude collecting unit 1 also includes binocular vision image-forming module
13, this binocular vision image-forming module 13 is wired electrical connection with transmitting submodule 42.Specifically,
The signal of telecommunication of the present image that this transmitting submodule 42 is received radios to binocular vision
Feel image-forming module 13, meanwhile, the stereopsis vision system of the person of being used in combination self, thus greatly
Enhance the third dimension of visual feedback so that user can obtain from terminal truly, exactly
Environment residing for device people 2, further so that user can within the shortest time remotely
Control from the movement posture holding robot 2 to make needs, thus the task that fulfils assignment.
In a specific embodiment, this binocular vision image-forming module 13 can be binocular video eye
Mirror, it is possible to be directly worn on the eyes of user.
As in figure 2 it is shown, in one embodiment, this control system 100 also includes connecting respectively
Meet the head 23 from end robot 2 and the angular turn parts 5 of trunk 21, this angular turn portion
Part 5 electrically connects with from end master control borad 211.Setting due to these angular turn parts 5 so that from
The head 23 of end robot 2 relatively can carry out the pitching of 180 degree and going off course and rotates by trunk 21, from
And greatly increase the motility of the motion from end robot 2 so that it is more conform to human body
Motion criteria.
In one embodiment, the end at the mechanical arm 22 from end robot 2 arranges execution
Actuator interface 6, this actuator interface 6 has coupled execution unit 221 can be promoted to enter
Row five degree of freedom moves.Wherein, this actuator interface 6 electrically connects with from end master control borad 211.
So, by controlling actuator interface 6 from end master control borad 211, so that it can be for performing
Parts 221 provide the control signal that five degree of freedom moves, i.e. realize the bending of each finger.
In a specific embodiment, this execution unit 221 can be bionic mechanical hand or be less than
The hold assembly of five degree of freedom, thus adapt to different job requirements.
In one embodiment, each joint angles execution unit 3 is steering wheel or servomotor.Its
In, steering wheel has the fast advantage being swift in motion with execution of reaction, so that the machinery of the application
Arm 22 can action the most neatly.Easy to understand, the concrete structure of steering wheel is this area
Known to technical staff, for the sake of saving length, it is not detailed herein.
In another embodiment, this control system 100 also includes can driving from end robot 2
The walking module 7 of walking.This walking module 7 is wheel undercarriage or caterpillar chassis.Specifically,
Be the half body anthropomorphic robot on replaceable chassis from end robot 2, its by modularized design can
Change the upper body composition of chassis and the anthropomorphic robot similar to upper half of human body structure.
Owing to the walking module 7 of the application can be wheel undercarriage so that permissible from end robot 2
Be suitable to move neatly in indoor environment, or this walking module 7 be caterpillar chassis,
Thus there is the advantage that obstacle performance is good so that may be adapted to lowered in field environment from end robot 2
Middle walking.
In sum, the control system 100 of the application is by by main side human body attitude collecting unit
1 is worn on the body of user, is gathered by each in main side human body attitude collecting unit 1
Plate 12 obtains the quaternary number of the movement posture of each joint part that can represent human body respectively, and
Each quaternary number is transferred to main side master control borad 11 respectively, utilizes human body by main side master control borad 11
Each quaternary number is resolved by attitude algorithm algorithm, to obtain representing each joint part of human body
The signal of telecommunication of joint angles, and this signal of telecommunication is transferred to from end robot 2 from end master control borad
21, so that human body can be followed from end robot 2 make identical movement posture.So,
For existing control system, i.e. existing control system needs for from end robot
Specialized designs main side robot.But, the application is then directly by being adopted by main side human body attitude
Collection unit 1 is worn on human body, thus controls the action from end robot 2.As can be seen here,
The control system 100 of the application can more directly control the action from end robot 2, from
And greatly increase the compliance of man-machine interaction.
Additionally, due to be typically located at the working environment of danger from end robot 2, thus, for
Improve the portability of control system, the parts in this control system need to be made the fewest more good.But,
The control system 100 of the application owing to eliminating main side robot of the prior art so that
The composition obtaining control system 100 is more simplified, convenient to the control from end robot 2.
It addition, by setting up walking module 7, this walking module 7 can be wheel undercarriage so that
May be adapted to move neatly in indoor environment from end robot 2, or this walking module
7 is caterpillar chassis, thus has the advantage that obstacle performance is good so that can from end robot 2
It is suitable in lowered in field environment walking.
As shown in Figure 4, according to the present invention, the control of a kind of remote operating passive robot is additionally provided
Method processed, including:
Step S410, obtains each joint portion that can represent human body respectively by each collection plate 12
The quaternary number of the movement posture of position, and each quaternary number is transferred to main side master control borad 11 respectively.
Specifically, after being worn on by main side human body attitude collecting unit 1 with user, it is positioned at each pass
The collection plate 12 at joint position can obtain the information of the movement posture at corresponding joint position respectively,
And this information is represented with the form of quaternary number.
Step S420, uses human body attitude computation to each quaternary by main side master control borad 11
Number resolves, to obtain representing the signal of telecommunication of the joint angles of each joint part of human body.
Step S430, will represent the joint of each joint part of human body by main side master control borad 11
The signal of telecommunication of angle is transferred to from end master control borad 211.That is, main side master control borad 11 is by each joint portion
The signal of telecommunication of the joint angles of position radios to from end master control borad 211, thus realizes from end
The control of robot 2, so that it makes the movement posture identical with human body.
Step S440, receives the pass of each joint part representing human body from end master control borad 211
After the signal of telecommunication of joint angle, control to follow human body from the corresponding site of end robot 2 and make and people
The movement posture that body is identical.So, just achieve the man-machine interaction of people and robot, and make
The compliance of man-machine interaction greatly improves, i.e. people can more directly control from terminal device
People 2 makes the action of needs, with the task that preferably fulfils assignment.
In one embodiment, each collection plate 12 is by using inertial navigation technology to obtain respectively
Take the information of the movement posture of each joint part that can represent human body, and by this information with quaternary
The form of number represents.Easy to understand, inertial navigation technology is known to the technical staff of ability,
For the sake of saving length, it is not detailed herein.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention,
All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made,
Should be included within the scope of the present invention.
Claims (11)
1. a remote operating passive robot control system, it is characterised in that
The main side human body attitude collecting unit can being worn on human body, described main side human body attitude
Collecting unit includes main side master control borad and can detect the action appearance of each joint part of human body in real time
Multiple collection plates of state, each described collection plate all electrically connects with described main side master control borad；And
From end robot；
Wherein, obtained respectively by each described collection plate and can represent each joint part of human body
The quaternary number of movement posture, and each described quaternary number is transferred to described main side master control borad respectively,
Utilize human body attitude computation that each described quaternary number is solved by described main side master control borad
Calculate, to obtain representing the signal of telecommunication of the joint angles of each joint part of human body, and by this telecommunications
Number be transferred to described from end robot from end master control borad so that described from end robot energy
Enough follow human body and make identical movement posture.
Remote operating passive robot control system the most according to claim 1, its feature exists
In, described control system also include being arranged on described from the trunk of end robot described in from end
Master control borad, wherein, described from end master control borad and the master control borad wireless connections of described main side.
Remote operating passive robot control system the most according to claim 2, its feature exists
In, described control system also includes being separately positioned on each of the described mechanical arm from end robot
The joint angles execution unit of individual joint part, each described joint angles execution unit is all with described
From end master control borad electrical connection.
Remote operating passive robot control system the most according to claim 1, its feature exists
In, described control system also includes that being arranged on the described binocular vision from the head of end robot obtains
Delivery block, described binocular vision acquisition module includes Image Acquisition that can obtain present image
Module and the transmitting submodule electrically connected with described Image Acquisition submodule, wherein, described image
Obtain submodule and presently described image is passed to as electronic signals described transmitting submodule.
Remote operating passive robot control system the most according to claim 4, its feature exists
In, described main side human body attitude collecting unit also includes binocular vision image-forming module, described binocular
Visual imaging module and described transmitting submodule wireless connections.
Remote operating passive robot control system the most according to claim 1, its feature exists
In, described control system also includes can connecting the described head from end robot and body respectively
Dry angular turn parts, described angular turn parts electrically connect from end master control borad with described.
Remote operating passive robot control system the most according to claim 2, its feature exists
In, it is provided with at the described end from the mechanical arm of end robot and can promote coupled holding
Row parts carry out the actuator interface of five degree of freedom motion, and described actuator interface is with described
From end master control borad electrical connection.
Remote operating passive robot control system the most according to claim 3, its feature exists
In, each described joint angles execution unit is steering wheel or servomotor.
Remote operating passive robot control system the most according to claim 1, its feature exists
In, described control system also includes driving the described walking module from end robot ambulation.
10. one kind uses the servo-actuated machine of the remote operating according to any one of the claims 1 to 9
The control method of people's control system, including:
The action of each joint part that can represent human body is obtained respectively by each described collection plate
The quaternary number of attitude, and this quaternary number is transferred to described main side master control borad；
Use human body attitude computation that each described quaternary number is entered by described main side master control borad
Row resolves, to obtain representing the signal of telecommunication of the joint angles of each joint part of human body；
The electricity of the joint angles of each joint part of human body will be represented by described main side master control borad
Signal is transferred to described from end master control borad；
The electricity of the described joint angles receiving each joint part representing human body from end master control borad
After signal, the described corresponding site from end robot of control is followed human body and is made identical with human body
Movement posture.
11. methods according to claim 10, it is characterised in that each described collection plate leads to
Cross employing inertial navigation technology to obtain the action of each joint part that can represent human body respectively
The information of attitude, and this information is represented with the form of quaternary number.
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| CN110308798A (en) * | 2019-07-31 | 2019-10-08 | 彭新楚 | A kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary |
| CN110653827A (en) * | 2019-11-11 | 2020-01-07 | 路邦科技授权有限公司 | Waist control system of bionic robot |
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| CN117428792A (en) * | 2023-12-21 | 2024-01-23 | 商飞智能技术有限公司 | Operating system and method for robot |
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