CN112650120A - Robot remote control system, method and storage medium - Google Patents
Robot remote control system, method and storage medium Download PDFInfo
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- CN112650120A CN112650120A CN202011527742.1A CN202011527742A CN112650120A CN 112650120 A CN112650120 A CN 112650120A CN 202011527742 A CN202011527742 A CN 202011527742A CN 112650120 A CN112650120 A CN 112650120A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
A robot remote control system, a method and a storage medium are provided, the system comprises a control device and a robot which is arranged remotely relative to the control device, the control device comprises an industrial personal computer, an operating handle and a camera which are electrically connected with the industrial personal computer, the camera is arranged relative to the operating handle, the operating handle is provided with a lifting button, and the industrial personal computer is in communication connection with the robot; the industrial personal computer obtains an attitude and speed control instruction, processes the lifting information or/and the position information to obtain a position control instruction, and sends the attitude and speed control instruction and the position instruction to the robot; the robot is used for analyzing the posture and speed control instruction and the position control instruction and responding to the analyzed control instruction, so that the robot is controlled remotely, the infection risk of a doctor in the process of examining a patient with infectious diseases is reduced, and the safety factor of the doctor is greatly improved.
Description
Technical Field
The invention relates to the field of robot control, in particular to a robot remote control system, a method and a storage medium.
Background
Currently, hospital doctors come into close contact with patients during work and detection, and the doctors have infection risks for patients with infectious diseases. Doctors need to wear heavy protective articles, and the working state of the doctors is affected by the fact that the doctors cannot breathe tightly, press skin, breathe difficultly and the like after wearing the protective articles for a long time. If the protective clothing is accidentally damaged, the medical staff may be infected.
Disclosure of Invention
The invention aims to solve the technical problem of avoiding direct contact between a doctor and an infectious disease patient and ensuring physical isolation between the doctor and the patient.
On one hand, the invention provides a robot remote control system, which comprises control equipment and a robot which is arranged in a remote way relative to the control equipment, wherein the control equipment comprises an industrial personal computer, an operating handle and a camera, the operating handle and the camera are electrically connected with the industrial personal computer;
the industrial personal computer is used for acquiring the attitude and speed information of the operating handle, processing the attitude and speed information to obtain an attitude and speed control instruction, and sending the attitude and speed control instruction to the robot;
the robot is used for analyzing the attitude and speed control instruction and responding to the analyzed attitude and speed control instruction;
the camera is used for acquiring the position information of the operating handle and transmitting the position information to the industrial personal computer;
the industrial personal computer is also used for acquiring lifting information of a lifting button on the operating handle, processing the lifting information or/and the position information to obtain a position control instruction, and sending the position instruction to the robot;
the robot is used for analyzing the position control instruction and responding to the analyzed position control instruction.
The invention has the beneficial effects that: in the system, the control handle, the industrial personal computer and the robot are in communication connection, the non-contact remote control mode that the control handle is used for controlling the remote robot is adopted, the ultrasonic probe can be finely moved up and down, the imaging is clearer, the labor cost can be reduced, a doctor can not directly reach the site, the diagnosis process is completed through the remote operation robot, the infection risk of the doctor during the examination of a patient suffering from infectious diseases is reduced, and the safety factor of the doctor is greatly improved.
Further, the industrial personal computer is specifically configured to acquire the attitude and speed information of the operating handle by using an inertia measurement module inside the operating handle, and perform smoothing filtering processing on the attitude and speed information to obtain an attitude and speed control instruction.
Further, the robot is specifically configured to perform proportional mapping on the attitude and speed control instruction according to a first mapping proportional operator to obtain mapping attitude and speed information, perform coordinate transformation on the mapping attitude and speed information to obtain RPY angle information and angular speed information, perform inverse solution on the RPY angle information and the angular speed information based on inverse kinematics and an inverse jacobian matrix of the robot to obtain robot joint attitude and speed information, and control robot joint motion according to the robot joint attitude and speed information.
Adopt above-mentioned further scheme's beneficial effect be, can be through the gesture and the speed of operating handle remote control robot, avoid doctor and patient to contact and infected risk.
Further, the industrial personal computer is further specifically configured to calculate a plane movement distance vector of the operating handle according to position information of the operating handle at a previous time and position information of the operating handle at a current time, which are acquired by the camera, generate a plane position control instruction according to the plane movement distance vector, and send the plane position control instruction to the robot;
the industrial personal computer is further specifically used for acquiring lifting information of a lifting button on the operating handle, generating a lifting control instruction according to the lifting information and sending the lifting control instruction to the robot;
and the plane position control instruction or/and the lifting control instruction is the position control instruction.
Further, the robot is further specifically configured to perform proportional mapping on the plane position control instruction or/and the lifting control instruction according to a second mapping proportional operator to obtain proportional mapping position information, perform inverse solution on the proportional mapping position information based on inverse kinematics of the robot to obtain robot joint position information, and control the robot joint to move according to the robot joint position information.
Adopt above-mentioned further scheme's beneficial effect be, can be through the position of operating handle remote control robot, avoid doctor and patient to contact and the risk of being infected.
Further, the camera is provided right below the manipulation handle
By adopting the further scheme, the 2D camera can more intuitively and clearly capture the movement track of the control handle on the plane.
Further, the joint end of robot is fixed with ultrasonic probe, ultrasonic probe still with the robot electricity is connected, controlgear still includes the ultrasonic image display, the ultrasonic image display with industrial computer electricity is connected.
The technical scheme has the beneficial effects that a doctor can control the ultrasonic probe through the remote operation robot to complete the ultrasonic scanning diagnosis process.
In a second aspect, the present invention provides a robot remote control method, which is characterized in that: the remote control system for the robot is used for remotely controlling the robot, and comprises the following steps,
moving an operating handle on the control device;
acquiring the attitude and speed information of the operating handle through an industrial personal computer, processing the attitude and speed information to obtain an attitude and speed control instruction, and sending the attitude and speed control instruction to the robot;
analyzing the attitude and speed control instruction, and enabling the robot to respond to the analyzed attitude and speed control instruction;
acquiring position information of the operating handle through a camera, and transmitting the position information to the industrial personal computer;
acquiring lifting information of a lifting button on the operating handle through the industrial personal computer, processing the lifting information or/and the position information to obtain a position control instruction, and sending the position instruction to the robot;
and analyzing the position control instruction, and enabling the robot to respond to the analyzed position control instruction.
The invention has the beneficial effects that: in the method, the control handle, the industrial personal computer and the robot are in communication connection, a non-contact remote control mode that the control handle is used for controlling the remote robot is adopted, the ultrasonic probe can be finely moved up and down, the imaging is clearer, the labor cost can be reduced, a doctor can not directly reach the site, the diagnosis process is completed through the remote operation robot, the infection risk of the doctor during the examination of a patient suffering from infectious diseases is reduced, and the safety factor of the doctor is greatly improved.
In a third aspect, the present invention provides a computer storage medium comprising at least one instruction which, when executed, implements a robot telepresence method as described above.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. industrial computer, 2, operating handle, 3, robot, 4, camera, 5, lift button, 6, ultrasonic probe.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
In a first aspect:
as shown in fig. 1, a robot remote control system includes a control device and a robot 3 remotely arranged with respect to the control device, the control device includes an industrial personal computer 1, and an operating handle 2 and a camera 4 electrically connected to the industrial personal computer 1, the camera 4 is arranged opposite to the operating handle 2, a lifting button 5 is arranged on the operating handle 2, and the industrial personal computer 1 is in communication connection with the robot 3;
the industrial personal computer 1 is used for acquiring the attitude and speed information of the operating handle 2, processing the attitude and speed information to obtain an attitude and speed control instruction, and sending the attitude and speed control instruction to the robot;
the robot 3 is used for analyzing the attitude and speed control instruction and responding to the analyzed attitude and speed control instruction;
the camera 4 is used for acquiring the position information of the operating handle 2 and transmitting the position information to the industrial personal computer 1;
the industrial personal computer 1 is further used for acquiring lifting information of a lifting button 5 on the operating handle 2, processing the lifting information or/and the position information to obtain a position control instruction, and sending the position instruction to the robot 3;
and the robot 3 is used for analyzing the position control instruction and responding to the analyzed position control instruction.
The camera 4 is arranged right below the control handle 2, the tail end of the mechanical arm is further provided with an ultrasonic probe 6 for scanning a human body, a lifting button 5 for controlling the ultrasonic probe 6 to move up and down is arranged on the control handle 2, and the range of the ultrasonic probe 6 moving up and down is 0-5 mm and used for adjusting the imaging definition of the ultrasonic probe.
Position theta and velocity of the robot joint
The calculation method comprises the following steps: acquiring information of an inertia measurement unit in the control handle 2 to obtain attitude and speed information of the control handle 2; carrying out smooth filtering processing on the attitude information, and transmitting and mapping the proportional operator lambda in real time through a network1The attitude and velocity of the cooperative robot 5 are obtained and then converted into RPY (pitch-rotation-yaw) angles (α, β, γ) and angular velocities
Through inverse kinematics and inverse Jacobian matrix of the robot, the position theta and the speed of the mechanical arm joint are reversely solved
Therefore, remote attitude control of the ultrasonic probe at the tail end of the robot is realized.
Movement of the robotic armThe calculation method of the moving distance comprises the following steps: the position (x) of the actuating handle 2 at the current time is recognized by the camera 42,y2) And the position (x) of the previous time1,y1) Further, a movement distance (Δ x, Δ y) of the joystick 2 is obtained, where Δ x ═ x2-x1；Δy＝y2-y1(ii) a Real-time transmission and mapping of scaling operator lambda over a network2Obtaining the moving distance (dx, dy) of the mechanical arm as lambda2(Δ x, Δ y), the z-direction movement distance dz of the ultrasonic probe 6 is obtained by the buttons of the handle, and the position θ of the robot joint is solved by inverse kinematics, so that the remote position control of the ultrasonic probe at the tail end of the robot 5 is realized.
In the system, the control handle 2, the industrial personal computer 1 and the robot 5 are in communication connection, the ultrasonic probe 6 can be finely moved up and down by adopting a non-contact remote control mode of controlling the remote robot 5 by using the control handle 2, so that the imaging is clearer, the labor cost can be reduced, a doctor can finish the ultrasonic scanning diagnosis process without going to the site directly, the infection risk of the doctor in the process of examining a patient with infectious diseases is reduced by remotely operating the robot, and the safety factor of the doctor is greatly improved.
In a second aspect:
as shown in fig. 2, a robot remote manipulation method includes the steps of,
moving an operating handle on the control device;
acquiring the attitude and speed information of the operating handle through an industrial personal computer, processing the attitude and speed information to obtain an attitude and speed control instruction, and sending the attitude and speed control instruction to the robot;
analyzing the attitude and speed control instruction, and enabling the robot to respond to the analyzed attitude and speed control instruction;
acquiring position information of the operating handle through a camera, and transmitting the position information to the industrial personal computer;
acquiring lifting information of a lifting button on the operating handle through the industrial personal computer, processing the lifting information and the position information to obtain a position control instruction, and sending the position instruction to the robot;
and analyzing the position control instruction, and enabling the robot to respond to the analyzed position control instruction.
In the method, the control handle, the industrial personal computer and the robot are in communication connection, a non-contact remote control mode that the control handle is used for controlling the remote robot is adopted, the labor cost can be reduced, a doctor can finish a diagnosis process by remotely operating the robot without going to the site directly, the infection risk of the doctor during examination of a patient suffering from infectious diseases is reduced, and the safety factor of the doctor is greatly improved.
In a third aspect, the present invention also provides a computer storage medium comprising at least one instruction which, when executed, implements the robot remote control method as described above.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A robot remote control system is characterized in that: the robot control system comprises control equipment and a robot which is arranged remotely relative to the control equipment, wherein the control equipment comprises an industrial personal computer, an operating handle and a camera which are electrically connected with the industrial personal computer, the camera is arranged opposite to the operating handle, a lifting button is arranged on the operating handle, and the industrial personal computer is in communication connection with the robot;
the industrial personal computer is used for acquiring the attitude and speed information of the operating handle, processing the attitude and speed information to obtain an attitude and speed control instruction, and sending the attitude and speed control instruction to the robot;
the robot is used for analyzing the attitude and speed control instruction and responding to the analyzed attitude and speed control instruction;
the camera is used for acquiring the position information of the operating handle and transmitting the position information to the industrial personal computer;
the industrial personal computer is also used for acquiring lifting information of a lifting button on the operating handle, processing the lifting information or/and the position information to obtain a position control instruction, and sending the position instruction to the robot;
the robot is used for analyzing the position control instruction and responding to the analyzed position control instruction.
2. The robotic telemanipulation system of claim 1, wherein: the industrial personal computer is specifically used for acquiring the attitude and speed information of the operating handle by using an inertia measurement module in the operating handle, and performing smooth filtering processing on the attitude and speed information to obtain an attitude and speed control instruction.
3. The robotic telemanipulation system of claim 1, wherein: the robot is specifically configured to perform proportional mapping on the attitude and speed control instruction according to a first mapping proportional operator to obtain mapping attitude and speed information, perform coordinate transformation on the mapping attitude and speed information to obtain RPY angle information and angular speed information, perform inverse solution on the RPY angle information and the angular speed information based on inverse kinematics and an inverse jacobian matrix of the robot to obtain robot joint attitude and speed information, and control robot joint motion according to the robot joint attitude and speed information.
4. The robotic telemanipulation system of claim 1, wherein: the industrial personal computer is further specifically used for calculating a plane movement distance vector of the operating handle according to the position information of the operating handle at the previous moment and the position information of the operating handle at the current moment, which are acquired by the camera, generating a plane position control instruction according to the plane movement distance vector, and sending the plane position control instruction to the robot;
the industrial personal computer is further specifically used for acquiring lifting information of a lifting button on the operating handle, generating a lifting control instruction according to the lifting information and sending the lifting control instruction to the robot;
and the plane position control instruction or/and the lifting control instruction is the position control instruction.
5. The robotic telemanipulation system of claim 4, wherein: the robot is further specifically configured to perform proportional mapping on the plane position control instruction or/and the lifting control instruction according to a second mapping proportional operator to obtain proportional mapping position information, perform inverse solution on the proportional mapping position information based on inverse kinematics of the robot to obtain robot joint position information, and control the robot joint to move according to the robot joint position information.
6. The robotic telemanipulation system of any one of claims 1 to 5, wherein: the joint end of the robot is fixed with an ultrasonic probe, the ultrasonic probe is further electrically connected with the robot, the control device further comprises an ultrasonic image display, and the ultrasonic image display is electrically connected with the industrial personal computer.
7. The robotic telemanipulation system of any one of claims 1 to 5, wherein: the camera is arranged right below the control handle.
8. A robot remote control method is characterized in that: remote manipulation of a robot using the robot remote manipulation system of any one of the above claims 1 to 7, comprising the steps of,
moving an operating handle on the control device;
acquiring the attitude and speed information of the operating handle through an industrial personal computer, processing the attitude and speed information to obtain an attitude and speed control instruction, and sending the attitude and speed control instruction to the robot;
analyzing the attitude and speed control instruction, and enabling the robot to respond to the analyzed attitude and speed control instruction;
acquiring position information of the operating handle through a camera, and transmitting the position information to the industrial personal computer;
acquiring lifting information of a lifting button on the operating handle through the industrial personal computer, processing the lifting information or/and the position information to obtain a position control instruction, and sending the position instruction to the robot;
and analyzing the position control instruction, and enabling the robot to respond to the analyzed position control instruction.
9. A computer storage medium, characterized in that: comprising at least one instruction which when executed implements the robot telepresence method of claim 8.
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| CN202011527742.1A CN112650120A (en) | 2020-12-22 | 2020-12-22 | Robot remote control system, method and storage medium |
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| CN202011527742.1A CN112650120A (en) | 2020-12-22 | 2020-12-22 | Robot remote control system, method and storage medium |
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Cited By (2)
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| CN114714349A (en) * | 2022-03-23 | 2022-07-08 | 武汉库柏特科技有限公司 | Method, device and equipment for testing posture of teleoperation ultrasonic scanning robot |
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Application publication date: 20210413 |