CN106375421A - Remote control-based robot-assisted intelligent maintenance system - Google Patents
Remote control-based robot-assisted intelligent maintenance system Download PDFInfo
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- CN106375421A CN106375421A CN201610786257.3A CN201610786257A CN106375421A CN 106375421 A CN106375421 A CN 106375421A CN 201610786257 A CN201610786257 A CN 201610786257A CN 106375421 A CN106375421 A CN 106375421A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
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Abstract
The present invention provides a remote control-based robot-assisted intelligent maintenance system. The system comprises a master end control platform module, a master end input signal acquisition and processing module, a signal transmission and communication module, and a slave end control execution module. The master end control platform module provides a platform and an operation environment in accordance with man-machine engineering for an operation by a remote control system master end remote operator. The master end input signal acquisition and processing module collects and processes motion data of an action instruction of the remote operator. The signal transmission and communication module transmits input data of a master operator collected by a master end and a processing result to a remote slave end. The slave end control execution module receives the data of the master end, then analyzes the data and drives a slave end robot execution mechanism to execute a corresponding action. According to the remote control-based robot-assisted intelligent maintenance system, a robot can be controlled remotely online in real time, the system is applicable to multiple operation environments that are inconvenient for people to perform tasks directly, and auxiliary maintenance tasks of the remote control intelligent maintenance system can be completed.
Description
Technical field
A kind of the present invention relates to field of artificial intelligence, in particular it relates to robot assisted intelligence based on remote control
Can maintenance system.
Background technology
It is not easy to be directly involved its actual operating condition for many task operating personnel, the such as remote outer space, depth
Through the country and seabed, heat-flash high-intensity magnetic field intense radiation heavy exposure strong stimulation etc. exceedingly odious have strong hazardness place, excessively narrow and small or
Cavity that the personnel of being not easy to are directly entered etc.；May facing under concrete varying environment of task can be related to can not in the face of operator
It is directly entered the job task demand under these special environments, can be by carrying and possessing by robot or some mechanism arrangement
The operation equipment of certain function enters into target environment and carries out standby maintenance maintenance operation and carry out remote operating by telecommunication
Control to execute concrete operation.
Operation for some scenes needs the expert in field to be instructed or directly operation is implemented, and special in field
Family number is limited or expert it is difficult to ensure that just on the scene it is sometimes desirable to the specific expert in somewhere unit position stretches out in time
Assistance is completing the operation of some link；And the job task of these situations is it is difficult to ensure that required expert just can
Arrive in the very nick of time manipulation scene, and such mission requirements can carry out timely reality by remote control robot assisted operating system
Existing.
By remote control technology, feed back to optional position in conjunction with the information monitor in real time such as far-end video, audio frequency, tactile
Main side manipulator, can effectively and timely allow remote operating person and other experts of field carry out correct action input it is possible to allow
Multidigit domain expert carries out joint-monitoring guidance, safeguards job task to be better achieved to the difference under specific environment；Also may be used
To realize allowing the personnel of vast study concrete operations pass through remote control platform real-time sharing and study in real time from end practical operation
Scene and operation input action etc..
Content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of robot assisted intelligence based on remote control
Can maintenance system.
The robot assisted intelligent maintenance system based on remote control being provided according to the present invention, comprising: main side manipulation is flat
Platform module, the collection of main side input signal and processing module, signal transmission and communication module, control performing module, existing from end from end
Field information gathering feedback module；Wherein:
Described main side report control platform module, for the manipulation of remote control system main side remote operating personnel is provided platform and
Meet the operating environment of ergonomicss；
The collection of described main side input signal and processing module, for carrying out exercise data to the action command of remote operating personnel
Collection, kinestate solution, Attitude Calculation, pose change information calculate and data filtering process；
Described signal transmission and communication module, for the input data of main operation personnel gathering main side and the knot of process
Fruit is transmitted to long-range from end；
Described control performing module from end, for parsing after the data receiving main side and solving correct control
Signal, executes corresponding action according to the motion obtaining and attitudes vibration target drives from end robot actuating mechanism；
Described from end field data collection feedback module, for the long-range field conditions from end are set by video or audio frequency
The standby feedback of the information collecting is transmitted to main side.
Preferably, described main side input signal collection is included with processing module: main side input action collecting device and main side
Data acquisition and procession computer, described main side input action collecting device is by the fortune of the mechanism of 6 to 7 degree of freedom collecting
Dynamic information transfer to main side data acquisition and procession computer, by main side data acquisition and procession computer combining mechanism itself just
Kinematic calculation goes out mechanism end control point relative to the locus of setting themselves basis coordinates system and attitude angle information, to obtain
The real-time pose information at main side operator control point, and send to signal transmission and communication module after carrying out Filtering Processing.
Preferably, described signal transmission and communication module adopt ethernet cable, or by internet and
Router transmits to long-range the result of the input data of the dominant operator of collection and process from end.
Preferably, described performing module is controlled can to drive different size, different degree of freedom, various configuration, difference from end
Precision, the robot of different qualities, can select the different robots of installation to complete main side according to specific operating environment
Operation task.
Preferably, described from end field data collection feedback module include: video information collecting device, audio-frequency information collection
Equipment, power feel tactile data collecting device；Wherein: described video information collecting device includes: photographic head, endoscope, network are taken the photograph
As head, wireless transmission camera；Described audio-frequency information collecting device includes: microphone；Described power feels tactile data collecting device bag
Include: force transducer.
Preferably, also include from client information monitor in real time display device, the video letter collecting from end scene for display
Breath, audio-frequency information, power feel tactile data.
Preferably, also include principal and subordinate's matching and coordination control module, be used for setting up main side work space and from end work space
Between mapping relations, realize principal and subordinate difference control targe point motion correctly mate, or realize from end to main side action input
Amplification, reduce and jitter elimination process.
Preferably, the posture information of main side can be obtained by absolute type or two kinds of control input patterns of increment type；Definitely
Formula refers to: is used as input simultaneously by the real-time main side equipment control point that calculates relative to the absolute posture information of main side itself basis coordinates system
It is mapped to from end robot mechanism relatively from the absolute pose holding itself basis coordinates system by rule；Increment type refers to: by asking for
The position of the two neighboring controlling cycle in main side operation equipment control point and the variable quantity of attitude, in conjunction with specified rule be mapped to from
The end relative local Coordinate System of robot actuating mechanism end control points or the pose of world coordinate system.
Compared with prior art, the present invention has a following beneficial effect:
What the present invention provided can easily remotely be existed in real time based on the robot assisted intelligent maintenance system of remote control
It is not easy to personnel's directly execution times to being under the situations such as relative small space, special adverse circumstances, closing internal milieu line
The object of business carries out state-detection inspection, the maintenance and repair of concrete link.The present disclosure additionally applies for the assisted surgery of patient part
The remote assistant such as treatment safeguard relief operation, efficiently accomplish remote operating intelligent maintenance system standby maintenance task.
Brief description
The detailed description with reference to the following drawings, non-limiting example made by reading, the further feature of the present invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the remote control system feedback information direct transmission plan configuration diagram of closer distance；
Fig. 2 is remote remote control system feedback information through master-slave communication layer together transmission plan configuration diagram.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These broadly fall into the present invention
Protection domain.
The robot assisted intelligent maintenance system based on remote control being provided according to the present invention, comprising: main side manipulation is flat
Platform module, the collection of main side input signal and processing module, signal transmission and communication module, control performing module, existing from end from end
Field information gathering feedback module；Wherein:
Described main side report control platform module, for the manipulation of remote control system main side remote operating personnel is provided platform and
Meet the operating environment of ergonomicss；
The collection of described main side input signal and processing module, for carrying out exercise data to the action command of remote operating personnel
Collection, kinestate solution, Attitude Calculation, pose change information calculate and data filtering process；
Described signal transmission and communication module, for the input data of dominant operator gathering main side and the result of process
Transmit to long-range from end；
Described control performing module from end, for parsing after receiving the data at main operation end and solving correct
Control signal, executes corresponding action according to the motion obtaining and attitudes vibration target drives from end robot actuating mechanism；
From end field data collection feedback module, for the long-range field conditions from end are adopted by video or audio frequency apparatus
The feedback of the information collecting is transmitted to main side；For dominant operator's monitoring and decision-making, so that dominant operator preferably inputs and assigns
Next step action command information, is monolithically fabricated a feedback control system thus realizing remote control intelligent maintenance function.
As shown in figure 1, the robot assisted intelligent maintenance system based on remote control, its composition specifically includes that main side is grasped
Make action input equipment, main side data acquisition and procession computer, principal and subordinate's end data issue and feedback transmission communication system (principal and subordinate
Communication Layer), from end data receive with process computer, from end service action robot actuating mechanism, from end field scene information
Collecting device, master information feedback display monitoring equipment.
Product or autonomous Design one machine in parallel or in series that main side input action collecting device employing can be bought
Structure realizes the motor control of 6 to 7 degree of freedom, can be obtained in real time and defeated by the mechanism that main side manipulates this 6 to 7 degree of freedom
Go out the movable information in each joint；Main side data acquisition and procession computer can be calculated with combining mechanism itself positive kinematics
Go out mechanism end control point relative to the locus of setting themselves basis coordinates system and attitude angle information, thus asking for and determining master
The real-time pose information at end operator control point it is possible to carry out process such as Filtering Processing according to actual needs to input information
Deng；Issued by principal and subordinate's end data and feedback transmission communication system is handed down to remotely from end to the data message of collection and process
System, this communication system need to ensure that data is complete, correctly and efficiently transmit to target from end receiving position, can be by
Ethernet cable is directly connected to main and slave terminal or is connected main and slave terminal and led to by internet and router
Cross master-slave communication mechanism to issue or the information such as feedback data, instruction, video, audio frequency；Receive and process computer from end data and lead to
Cross master-slave communication and obtain data and the instruction that main side host computer issues, and the data receiving is parsed and process obtains core
Demand information, and combine and solve from the kinematics sequences of end robot actuating mechanism and now residing attitude information calculates
Going out from end service action actuator respectively move drive diarthrodial execution data with send to from end robot actuating mechanism each
Individual driving equipment；From end, robot actuating mechanism then drives and executes specific action according to the execution data command solving calculating
To complete specific action task, with the hand input action of amiable reproduction main side operator and then the correlation of respective specific can be completed
Task, such as remote operating to from end attended operation object carry out detecting inspection, maintenance and repair, sufferer operative treatment etc. and with respect to
Narrow working space, special rugged environment, internal milieu of closing etc. complete to safeguard relief psychomotor task and remotely exist in real time
Line manipulation execution.
Dominant operator for attended operation action command input and issue personnel, mainly be responsible for by Real-time Feedback monitor remote
Real-time scene from the operating environment of end for the journey is judged and is inputted suitable action and control instruction, and main side operator passes through remote
The online Real-time Feedback of end scene enables whole system composition large closed-loop feedback system to stablize to ensure whole remote control system
Control and correctly execute task；Operating environment residing for from end attended operation object is usually that operator are not easy to be directly involved
The situation of operation, in the such as remote outer space, deep-sea and the extreme evil such as seabed, heat-flash high-intensity magnetic field intense radiation heavy exposure strong stimulation
Bad there is strong hazardness place, cavity that the excessively narrow and small or personnel that are not easy to are directly entered etc., these special environments make to operate
Personnel cannot directly enter and can carry the operation equipment entrance possessing certain function by robot or some mechanism arrangement
Carry out standby maintenance maintenance operation to target environment and be controlled executing concrete action by telecommunication；This remote control machine
Device people auxiliary intelligent maintenance system can select because of specific maintenance task and upkeep operation environment difference and design inhomogeneity
Type accordingly suitably from end robot mechanism, the ground remote operating detection maintenance and repair of remote outer space equipment can be completed
Detect the operations such as experiment, in deep-sea and ground staff's remote operating detection maintenance and repair of undersea device and device detects the work such as experiment
The exceedingly odious appliance arrangement detection having in strong hazardness place such as industry, heat-flash high-intensity magnetic field intense radiation heavy exposure strong stimulation is safeguarded
The internal a part such as cavity that maintenance detects the operations such as experiment, the excessively narrow and small or personnel that are not easy to are directly entered or the distant behaviour of equipment
Make operation, the histoorgans for human body chest and abdomen intracavity such as detection maintenance and repair detection experiment to carry out minimally invasive remote operating inspection and detect
The operations such as experiment operative treatment.
Main side data acquisition and procession computer and from end data receive and process computer between can pass through communication mechanism
Realize two ends and transmit necessary information real-time, distance is less remote can directly to be communicated by connected with network cable, super remote
The computer at two ends can be connected the Internet and carry out data communication by the Internet transport protocol, thus realizing main side by distance
Manipulation information is sent in real time and is executed by actuator from end and fed back corresponding data by feedback sense equipment, entirely counts
It is dependent on the communication mechanism set up between this principal and subordinate according to stream instruction stream；It is each that the computer at principal and subordinate two ends is each responsible for main and slave terminal
From main functional modules, the driving of equipment as connected, telecommunication is set up, data acquisition, reception and process, and main side inputs machine
The solution of structure kinestate, pose calculating, data processing etc., calculate data from the solution of terminal structure motion control arithmetic, control law
Process etc., from end actuator Motor drive instruction issue and implementing result feedback, other sensors that may use
Driving data obtain with process etc. task module；In addition the specific tasks division of labor to the computer of main and slave terminal can root
Be adjusted according to remote control system practical situation, can by from end some functional processing modules be placed on main side computer again by
Result is issued to by communication mechanism can directly be issued driver element behind end, reception and executed.
Master-slave communication layer transmission signal Scheme Choice can be carried out according to the physical distance between principal and subordinate, if principal and subordinate it
Between physical distance less remote can directly pass through netting twine and other signal transmission cables and connect, then can select as Fig. 1 institute
The communication strategy shown, that is, the control signal between principal and subordinate and command information etc. are walked master-slave communication layer protocol and can be passed through network transmission
Cable transmission information, and include video, audio frequency or even tactile signals etc. from end real-time scene feedback information and can directly pass through phase
Video signal transmission wire, audio signal transmission wire and other signal transmssion lines answered are transferred directly to main side operator and can see
To, the platform hearing and feel；So can ensure that feedback signal transmission time delay less to feed back to main side more in time
Operator is thus make rational manipulation more in time.If the distance between principal and subordinate is far, it is directly connected to cable relatively difficult, then
Need to be communicated by internet, now need to lead to the control data information between principal and subordinate and command information by network
News transmission, includes video, audio frequency or even tactile signals etc. from the feedback information holding scene simultaneously and is also required to wait internet one
Rise and be transmitted by this Communication Layer, so need the enough height of bandwidth of master-slave communication layer it is ensured that the big data quantity such as video, audio frequency
Information is unlikely to interim card, packet loss, time delay with control data instruction when transmitting together more serious, to avoid the feedback letter causing to need
Cease seriously delayed or distortion serious conditions to occur.General communications protocol can be by tcp/ip or udp protocol realization data
Transmission it is also possible to realize the transmission of the information such as video, the audio frequency of big data quantity by network transmission platform.
Main side computer connects main side and operates input equipment to pass through the master that motion solution can calculate main side equipment mechanism
End work space, from end computer connect from end maintaining robot and other actuators can also be by setting up model development
Motion derivation algorithm calculates from end work space, and the matched well manipulation between principal and subordinate to be realized, then need to set up properly
Coordination principal and subordinate's mapping relations, with realize principal and subordinate difference control targe point motion correctly mate, or realize from end to main side
Action input amplification, reduce and eliminates shake etc. process；This requires to obtain firstly the need of to main side operation input equipment
Input data filter out the impact that equipment self gravitation factor is brought to displacement, that is, need to carry out real-time gravity to it
Compensate, its backoff algorithm can combine forward and reverse according to the node configuration of this equipment, Mass Distribution and instantaneously residing attitude information
Kinematics solution；When realizing the control of principal and subordinate's matching and coordination by principal and subordinate's space reflection, the pose input information of main side can be adopted
Take absolute type and two kinds of control input patterns of increment type, absolute type passes through the real-time main side equipment control point that calculates relative to its own base
The absolute posture information of coordinate system is mapped to from end robot mechanism relatively from itself basis coordinates system of end as input and by rule
Definitely pose, increment type is then by asking for the position of the two neighboring controlling cycle in main side operation equipment control point and the change of attitude
Amount is mapped to relative local Coordinate System or the world from end robot actuating mechanism end control points in conjunction with certain rule
The pose variable quantity of coordinate system is controlled.
Present system main side operation input equipment generally requires possesses 6 to 7 degree of freedom to produce main side manipulation pose
Input information, such as can be selected for omega6, the omega7 in the omega series of forcedimension company, delta series
The operation equipment product such as delta6, delta7, such as phantom operation equipment of sensable technologies company etc.,
Can possess the mechanism of the suitable staff manipulation of 6 to 7 degree of freedom with designed, designed, each degree of freedom can be obtained by encoder
Take for example each joint rotation angle of respective movable information, thus the direct kinematics with reference to this mechanism can calculate control point relatively certainly
The position of body and attitude information, ask for the spatial pose information relative to itself for the time point of adjacent controlling cycle twice if necessary
Ask for difference twice again and obtain variable quantity.The corresponding frequencies of main side input operation equipment requirements acquisition data and pose renewal are relatively
Height, at least needs to ensure to meet the primary demand obtaining main side effective information, the mechanism of designed, designed in more than 1000hz
Then need to ensure conveniently to ask for positive kinematics and inverse kinematics according to its mechanism configuration, and need to ensure higher precision.This
Outer in addition it is also necessary to the equipment auxiliary of this generation pose input information is added with io break-make management switch control module, such as simple switch,
Foot switch etc., the data that auxiliary io module can input pose information generation apparatus to main side carries out artificial interruption, ratio is adjusted
Section and principal and subordinate's mapping corresponding relation conversion etc..Main side operates the quantity that input equipment needs to be selected according to actual needs, and one
As one hands of main side operator manipulate this main side input equipment, if only needing an independent actuator from end task,
Main side only needs to manipulate an equipment and carries out remote operating；If need two relatively independent actuators respectively from end task or
Interoperation simultaneously, then main side operator needs two handss to manipulate then needs two main side input equipments to carry out remote operating；If
From end robot mechanism by the relatively independent actuator of two or more, main side one operator only has two handss cooperation manipulations still
Two equipment can only be manipulated simultaneously, and then need to be selected according to main side auxiliary switch module from the plural actuator in end
Select mapping corresponding relation to connect the corresponding relation of main side manipulator's left hand or the right hand respectively.
Can be according to from end attended operation environment, attended operation object and tool from end maintaining robot and other actuators
Body task choosing different size, different degree of freedom, various configuration, different accuracy, the robot mechanism of different qualities, are such as directed to negative
Carry larger task and can select satisfactory industrial robot on market, complex task under long and narrow space can be selected tightly
Gather series connection humanoid robot, to splanchnocoel assisted surgery task can with autonomous Design dexterous, compact, micromanipulator, appoint to from end
It is engaged in needing larger movement posture scope may be selected or design high-freedom degree robot, more fix or attitude to from end task action
Constrained environment then may be selected or design lower-mobility robot.
From end scene information collecting device mainly have three major types, video information collecting device such as common camera, special want
Ask photographic head, small size endoscope, IP Camera, wireless transmission camera etc., audio-frequency information collecting device such as microphone, power is felt
Tactile data collecting device such as force transducer or other indirect detection haptic apparatus.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or change, this not shadow
Ring the flesh and blood of the present invention.In the case of not conflicting, feature in embodiments herein and embodiment can any phase
Mutually combine.
Claims (8)
1. a kind of robot assisted intelligent maintenance system based on remote control is it is characterised in that include: main side report control platform mould
Block, the collection of main side input signal and processing module, signal transmission and communication module, control performing module from end, from end scene letter
Breath collection feedback module；Wherein:
Described main side report control platform module, for providing platform to the manipulation of remote control system main side remote operating personnel and meeting
The operating environment of ergonomicss；
The collection of described main side input signal and processing module, adopt for carrying out exercise data to the action command of remote operating personnel
Collection, kinestate solution, Attitude Calculation, pose change information calculate and data filtering process；
Described signal transmission and communication module, the input data of main operation personnel and the result of process for gathering main side pass
Transport to remotely from end；
Described control performing module from end, correct control letter for parsing after the data receiving main side and solving
Number, corresponding action is executed from end robot actuating mechanism according to the motion obtaining and attitudes vibration target drives；
Described from end field data collection feedback module, for the long-range field conditions from end are adopted by video or audio frequency apparatus
The feedback of the information collecting is transmitted to main side.
2. the robot assisted intelligent maintenance system based on remote control according to claim 1 is it is characterised in that described
Main side input signal collection is included with processing module: main side input action collecting device and main side data acquisition and procession calculate
Machine, described main side input action collecting device is by the motion information transmission of the mechanism of 6 to 7 degree of freedom collecting to main side number
According to collection and process computer, calculate mechanism end by main side data acquisition and procession itself positive kinematics of computer combining mechanism
End control point relative to the locus of setting themselves basis coordinates system and attitude angle information, to obtain main side operator control point
Real-time pose information, and send to signal transmission and communication module after carrying out Filtering Processing.
3. the robot assisted intelligent maintenance system based on remote control according to claim 1 is it is characterised in that described
Signal transmission and communication module adopt ethernet cable, or the main operation that will gather by internet and router
The input data of person and the result processing are transmitted to long-range from end.
4. the robot assisted intelligent maintenance system based on remote control according to claim 1 is it is characterised in that described
Control performing module can drive the machine of different size, different degree of freedom, various configuration, different accuracy, different qualities from end
People, can select to install the operation task that different robots complete main side according to specific operating environment.
5. the robot assisted intelligent maintenance system based on remote control according to claim 1 is it is characterised in that described
From end, field data collection feedback module includes: video information collecting device, audio-frequency information collecting device, power feel that tactile data is adopted
Collection equipment；Wherein: described video information collecting device includes: photographic head, endoscope, IP Camera, wireless transmission camera；
Described audio-frequency information collecting device includes: microphone；Described power feels that tactile data collecting device includes: force transducer.
6. the robot assisted intelligent maintenance system based on remote control according to claim 1 is it is characterised in that also wrap
Include from client information monitor in real time display device, the video information collecting from end scene for display, audio-frequency information, power feel tactile
Information.
7. the robot assisted intelligent maintenance system based on remote control according to claim 1 is it is characterised in that also wrap
Include principal and subordinate's matching and coordination control module, for setting up main side work space and the mapping relations between the work space of end, realize
The motion of principal and subordinate's difference control targe point is correctly mated, or realizes from end to the amplification of main side action input, reduces and shake
Processing for removing.
8. the robot assisted intelligent maintenance system based on remote control according to claim 2 is it is characterised in that main side
Posture information can be obtained by absolute type or two kinds of control input patterns of increment type；Absolute type refers to: is calculated by real-time
Main side equipment control point is mapped to from terminal as input and by rule relative to the absolute posture information of main side itself basis coordinates system
Device robot mechanism is relatively from the absolute pose holding itself basis coordinates system；Increment type refers to: by asking for main side operation equipment control point
The position of two neighboring controlling cycle and the variable quantity of attitude, are mapped to from end robot actuating mechanism end in conjunction with specified rule
The end relative local Coordinate System at control point or the pose of world coordinate system.
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| CN106713502A (en) * | 2017-02-14 | 2017-05-24 | 扬州奚仲科技有限公司 | Remote control system of camera motion platform |
| CN106903665A (en) * | 2017-04-18 | 2017-06-30 | 中国科学院重庆绿色智能技术研究院 | A kind of master-slave mode telesurgery robot control system based on stereoscopic vision |
| CN106945043A (en) * | 2017-04-18 | 2017-07-14 | 中国科学院重庆绿色智能技术研究院 | A kind of master-slave mode telesurgery robot multi-arm cooperative control system |
| CN107049497A (en) * | 2017-05-02 | 2017-08-18 | 浙江伽奈维医疗科技有限公司 | Puncture navigation robot system |
| CN107717994A (en) * | 2017-11-08 | 2018-02-23 | 西安交通大学 | Principal and subordinate's heterogeneous robot universal control method and system based on principal and subordinate's space reflection |
| CN108107765A (en) * | 2017-12-30 | 2018-06-01 | 北京工业大学 | A kind of Motion mapping method and system of isomery master-slave system |
| CN108214445A (en) * | 2018-01-24 | 2018-06-29 | 哈尔滨工业大学 | A kind of principal and subordinate's isomery remote operating control system based on ROS |
| CN108568822A (en) * | 2018-06-27 | 2018-09-25 | 西华大学 | Heterogeneous remote control system based on multiple robots |
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| CN109782593A (en) * | 2019-01-09 | 2019-05-21 | 哈尔滨理工大学 | A kind of sharing learning fuzzy inferior applied to hexapod robot |
| CN109782593B (en) * | 2019-01-09 | 2022-03-22 | 哈尔滨理工大学 | Control method of sharing factor fuzzy inference engine applied to hexapod robot |
| CN114144806A (en) * | 2019-08-01 | 2022-03-04 | 欧姆龙株式会社 | Task allocation device, task allocation system, method, and program |
| CN111421537A (en) * | 2020-03-19 | 2020-07-17 | 武汉联影智融医疗科技有限公司 | Remote control system |
| CN111923019A (en) * | 2020-07-07 | 2020-11-13 | 广东工业大学 | Robot system for multiple operations of high-voltage wire and operation method |
| CN112603546A (en) * | 2020-12-24 | 2021-04-06 | 哈尔滨思哲睿智能医疗设备有限公司 | Remote operation system based on laparoscopic operation robot and control method |
| CN112894820A (en) * | 2021-01-29 | 2021-06-04 | 清华大学深圳国际研究生院 | Flexible mechanical arm remote operation man-machine interaction device and system |
| CN113241169A (en) * | 2021-05-09 | 2021-08-10 | 青岛大学附属医院 | Main-end remote control device for remote operation robot operating system |
| CN113715037A (en) * | 2021-09-01 | 2021-11-30 | 光华临港工程应用技术研发(上海)有限公司 | Intelligent nurse robot system capable of being remotely operated |
| CN115592667A (en) * | 2022-10-28 | 2023-01-13 | 李汉忠（Cn） | Low-delay surgical robot remote control system |
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