CN112720491A - Robot remote control method, system, storage medium and equipment - Google Patents
Robot remote control method, system, storage medium and equipment Download PDFInfo
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- CN112720491A CN112720491A CN202011576710.0A CN202011576710A CN112720491A CN 112720491 A CN112720491 A CN 112720491A CN 202011576710 A CN202011576710 A CN 202011576710A CN 112720491 A CN112720491 A CN 112720491A
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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
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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
Abstract
The invention relates to a remote control method, a system, a storage medium and equipment of a robot, wherein the method comprises the steps of receiving a remote intervention command when the robot is abnormal in a working mode, and controlling the robot to be switched to the remote intervention mode according to the remote intervention command; and receiving a remote control command in a remote intervention mode, and controlling the robot to physically move according to the remote control command so as to realize remote control of the robot. According to the invention, when the robot is abnormal in work and cannot execute a task, the robot is controlled to be switched to the remote intervention mode by receiving the remote intervention command, and the robot is controlled to physically move according to the remote control command, so that the remote control of the robot is realized, the robot is assisted to recover the normal working state or customize the task, the abnormal recovery efficiency of the robot is greatly improved, the previous work can be continued after the normal working state is recovered by remote recovery, the working efficiency of the robot is greatly improved, and the maintenance cost is reduced.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a remote control method, a remote control system, a storage medium and a remote control device for a robot.
Background
With the rapid development of computer technology, sensor technology, artificial intelligence and other technologies, robot technology is becoming more and more mature, and the mobile robot type among them is most widely used and plays an increasingly important role in numerous industries such as home service, aerospace, industry and the like, and these various robots can well complete work in specific environments. Under the normal working mode, the robot with the autonomous moving capability can automatically execute the received tasks of level movement, elevator taking, brake passing, charging and the like according to the information of maps, positioning, paths and the like grasped by the robot without external auxiliary intervention. However, when an abnormality (such as an unexpected jamming of the robot, a positioning loss, etc.) that cannot be recovered by itself occurs in a normal working mode or the robot needs to be temporarily instructed to perform a certain customized movement, external access is often needed to recover the normal work of the robot.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a method, a system, a storage medium and a device for remote control of a robot, aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: a robot remote control method comprises the following steps:
s10: when the robot is abnormal in the working mode, receiving a remote intervention command, and controlling the robot to be switched to a remote intervention mode according to the remote intervention command;
s20: and receiving a remote control command in a remote intervention mode, and controlling the robot to physically move according to the remote control command so as to realize remote control of the robot.
The invention has the beneficial effects that: according to the robot remote control method, when the robot works abnormally and cannot execute a task, the robot is controlled to be switched to a remote intervention mode by receiving a remote intervention command, and the robot is controlled to physically move according to the remote control command, so that the remote control of the robot is realized, the robot is assisted to recover a normal working state or a customized task, the abnormal recovery efficiency of the robot is greatly improved, the previous work can be continued after the normal working state is recovered through the remote recovery, the working efficiency of the robot is greatly improved, and the maintenance cost is reduced.
On the basis of the technical scheme, the invention can be further improved as follows:
further: after receiving the remote intervention command, the method further comprises the following steps:
s11: judging whether the real-time position determined by the robot is correct or not by matching the coincidence degree of the data of the robot positioning sensor and the map outline and verifying the coincidence degree of the feedback image of the robot camera and the environment map library; and/or whether the running state of the robot is normal is judged by detecting whether each equipment component of the robot reports errors and whether a perception sensor gives an alarm;
if the real-time position of the robot is wrong and/or the running state is abnormal, storing the current field information in the working mode, and controlling the robot to be switched to a remote intervention mode according to the remote intervention command; otherwise, ending the control flow;
the current field information comprises task information of a service layer, a scheduling layer and/or a motion layer and state information of the robot equipment.
The beneficial effects of the further scheme are as follows: whether the robot needs to enter a remote intervention mode is judged according to the real-time position information and the working parameter information of the robot, and the current field information in the working mode is stored when the robot needs to enter the remote intervention mode, so that a corresponding task can be executed according to the current field information in the working mode after the robot is switched to the remote intervention mode, and the robot can be restored to a normal working state.
Further: after the robot is controlled to be switched to the remote intervention mode according to the remote intervention command, the method further comprises the following steps:
s12: and recovering the current field information in the remote intervention mode according to the current field information in the working mode.
The beneficial effects of the further scheme are as follows: the current site information in the remote intervention mode is recovered through the current site information in the working mode, so that the task execution states of the robot before and after the abnormal state can be obtained according to the current site information in the working mode after the remote intervention mode is switched to the remote intervention mode, the robot can continue to execute the task before the abnormal state according to the current site information in the working mode, the normal work of the robot is ensured, and the normal state is recovered in time.
Further: after the robot is controlled to be switched to the remote intervention mode according to the remote intervention command, the method further comprises the following steps:
s13: reading the current mode of the robot, judging whether the current mode is a remote intervention mode, if so, indicating that the mode switching is successful, and receiving a remote control command in the remote intervention mode; otherwise, generating and uploading switching failure information.
The beneficial effects of the further scheme are as follows: by judging whether the remote intervention mode is successfully switched or not, the robot can conveniently execute corresponding tasks according to the remote control command after the switching is successful, and generates switching failure information when the switching is failed, so that the robot can conveniently remotely check and correct in time, or adopt corresponding repairing measures, and the robot can be successfully switched to the remote access mode.
Further: after receiving the remote control command in the remote intervention mode, the method further comprises the following steps:
s21: analyzing the remote control command according to a preset communication protocol rule, judging whether the corresponding command can be analyzed correctly and whether each control parameter of the corresponding command is in an effective range, if so, judging that the remote control command is legal, and controlling the robot to perform physical movement according to the remote control command; otherwise, ending the control flow.
The beneficial effects of the further scheme are as follows: by analyzing the remote control command and judging the legality, the terminal or equipment with authority can be ensured to control the robot, the condition that the robot cannot normally execute the corresponding task due to the invasion of external equipment is avoided, and the safety of the robot executing the task is ensured.
Further: after the robot is controlled to perform physical movement according to the remote control command, the method further comprises the following steps:
s22: detecting whether a new remote control command is received, and if so, returning to the step S21; otherwise, go to S23;
s23: and detecting whether the received new remote control command exceeds the preset time or not, controlling the robot to stop moving when the preset time is exceeded, and ending the remote intervention mode.
The beneficial effects of the further scheme are as follows: by detecting whether a new remote control command is received or not, the new remote control command can be analyzed continuously after being received, the new remote control command is judged to be legal, and then the execution is continued, if the new remote control command is not received within the preset time, the default communication is interrupted, the robot is controlled to stop moving, and the problem that the robot executes a task wrongly due to misoperation during the time delay under the condition of a communication terminal is avoided.
Further: the method further comprises the steps of:
s24: receiving a working mode switching command, storing current field information in a remote intervention mode, controlling the robot to switch to the remote intervention mode according to the working mode switching command, and recovering the current field information in the working mode according to the current field information in the remote intervention mode.
The beneficial effects of the further scheme are as follows: the robot can be controlled to be switched to the working mode through the working mode switching command, and current field information in the remote intervention mode is stored before switching, so that the robot can conveniently acquire task execution states of the robot before and after an abnormal state according to the current field information in the remote intervention mode after being switched to the working mode, the robot can continue to execute tasks after the abnormal state according to the current field information in the remote intervention mode, normal work of the robot is guaranteed, and a normal state is recovered.
The invention also provides a robot remote control system, which comprises a receiving switching module and a receiving control module;
the receiving and switching module is used for receiving a remote intervention command when the robot is abnormal in a working mode and controlling the robot to be switched to a remote intervention mode according to the remote intervention command;
and the receiving control module is used for receiving a remote control command in a remote intervention mode and controlling the robot to physically move according to the remote control command so as to realize remote control of the robot.
According to the robot remote control system, when the robot works abnormally and cannot execute a task, the robot is controlled to be switched to a remote intervention mode by receiving a remote intervention command, and the robot is controlled to physically move according to the remote control command, so that the robot remote control is realized, the robot is assisted to recover a normal working state or a customized task, the abnormal recovery efficiency of the robot is greatly improved, the previous work can be continued after the normal working state is recovered through remote recovery, the working efficiency of the robot is greatly improved, and the maintenance cost is reduced.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method.
The invention also provides a robot remote control device which is characterized by comprising the storage medium and a processor, wherein the processor realizes the steps of the method when executing the computer program on the storage medium.
Drawings
Fig. 1 is a schematic flow chart of a robot remote control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot remote control system according to an embodiment of the present invention.
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.
As shown in fig. 1, a robot remote control method includes the following steps:
s10: when the robot is abnormal in the working mode, receiving a remote intervention command, and controlling the robot to be switched to a remote intervention mode according to the remote intervention command;
s20: and receiving a remote control command in a remote intervention mode, and controlling the robot to physically move according to the remote control command so as to realize remote control of the robot.
According to the robot remote control method, when the robot works abnormally and cannot execute a task, the robot is controlled to be switched to a remote intervention mode by receiving a remote intervention command, and the robot is controlled to physically move according to the remote control command, so that the remote control of the robot is realized, the robot is assisted to recover a normal working state or a customized task, the abnormal recovery efficiency of the robot is greatly improved, the previous work can be continued after the normal working state is recovered through the remote recovery, the working efficiency of the robot is greatly improved, and the maintenance cost is reduced.
In one or more embodiments of the present invention, after receiving the remote intervention command, the method further includes the following steps:
s11: judging whether the real-time position determined by the robot is correct or not by matching the coincidence degree of the data of the robot positioning sensor and the map outline and verifying the coincidence degree of the feedback image of the robot camera and the environment map library; and/or whether the running state of the robot is normal is judged by detecting whether each equipment component of the robot reports errors and whether a perception sensor gives an alarm;
if the real-time position of the robot is wrong and/or the running state is abnormal, storing the current field information in the working mode, and controlling the robot to be switched to a remote intervention mode according to the remote intervention command; otherwise, ending the control flow;
the current field information comprises task information of a service layer, a scheduling layer and/or a motion layer and state information of the robot equipment.
Whether the robot needs to enter a remote intervention mode is judged according to the real-time position information and the working parameter information of the robot, and the current field information in the working mode is stored when the robot needs to enter the remote intervention mode, so that a corresponding task can be executed according to the current field information in the working mode after the robot is switched to the remote intervention mode, and the robot can be restored to a normal working state.
Optionally, in one or more embodiments of the present invention, after the controlling the robot to switch to the remote intervention mode according to the remote intervention command, the method further includes the following steps:
s12: and recovering the current field information in the remote intervention mode according to the current field information in the working mode.
The current site information in the remote intervention mode is recovered through the current site information in the working mode, so that the task execution states of the robot before and after the abnormal state can be obtained according to the current site information in the working mode after the remote intervention mode is switched to the remote intervention mode, the robot can continue to execute the task before the abnormal state according to the current site information in the working mode, the normal work of the robot is ensured, and the normal state is recovered in time.
For example, when the robot is abnormal when executing a task from a point a to a point B, the robot receives a remote access command, and determines whether to enter a remote access mode according to real-time position information and working parameter information of the robot, and if so, stores current field information in the working mode, that is, field information from the point a to the point B, so that after switching to the remote intervention mode, the corresponding task can be executed according to the stored field information from the point a to the point B in the working mode, thereby enabling the robot to recover normal work as soon as possible.
In one or more embodiments of the present invention, after the robot is controlled to switch to the remote intervention mode according to the remote intervention command, the method further includes the following steps:
s13: reading the current mode of the robot, judging whether the current mode is a remote intervention mode, if so, indicating that the mode switching is successful, and receiving a remote control command in the remote intervention mode; otherwise, generating and uploading switching failure information.
By judging whether the remote intervention mode is successfully switched or not, the robot can conveniently execute corresponding tasks according to the remote control command after the switching is successful, and generates switching failure information when the switching is failed, so that the robot can conveniently remotely check and correct in time, or adopt corresponding repairing measures, and the robot can be successfully switched to the remote access mode.
Optionally, in one or more embodiments of the present invention, after receiving a remote control command in the remote intervention mode, the method further includes the following steps:
s21: analyzing the remote control command according to a preset communication protocol rule shown in table 1, judging whether the corresponding command can be correctly analyzed and whether each control parameter of the corresponding command is in an effective range, if so, judging that the remote control command is legal, and controlling the robot to physically move according to the remote control command; otherwise, ending the control flow.
Table 1 Preset communication protocol rules
By analyzing the remote control command and judging the legality, the terminal or equipment with authority can be ensured to control the robot, the condition that the robot cannot normally execute the corresponding task due to the invasion of external equipment is avoided, and the safety of the robot executing the task is ensured.
Optionally, in one or more embodiments of the present invention, after the robot is controlled to perform the physical movement according to the remote control command, the method further includes the following steps:
s22: detecting whether a new remote control command is received, and if so, returning to the step S21; otherwise, go to S23;
s23: and detecting whether the received new remote control command exceeds the preset time or not, controlling the robot to stop moving when the preset time is exceeded, and ending the remote intervention mode.
By detecting whether a new remote control command is received or not, the new remote control command can be analyzed continuously after being received, the new remote control command is judged to be legal, and then the execution is continued, if the new remote control command is not received within the preset time, the default communication is interrupted, the robot is controlled to stop moving, and the problem that the robot executes a task wrongly due to misoperation during the time delay under the condition of a communication terminal is avoided.
Since dynamic commands are used to maintain a continuous, flexible, fast-responding remote control process for the robot, such as a single command with an execution time set to 500ms, namely, after the robot control program receives a dynamic instruction, the robot is controlled to move according to the linear velocity and the angular velocity in the instruction, if a next new dynamic command is received within 500ms, the execution of the new command is switched to, if no new dynamic command is received within 500ms, the linear velocity and the angular velocity of the robot are reduced to 0 (namely, the robot is controlled to stop moving or moving), if the execution time of a single command is set to be overlong, when the network is disconnected accidentally, the robot keeps the linear velocity and the angular velocity in the last instruction moving all the time, the robot is difficult to stop and has potential safety hazards, and if the execution time is set to be too short, the motion of the robot is lack of continuity when the network fluctuates for a short time, and the pause feeling is serious. Therefore, the proper execution time is selected, and the robot is controlled to stop moving when the interruption mechanism (the new remote control command is not received after the preset time is exceeded) is matched to ensure the safe and stable operation of the robot.
In one or more embodiments of the invention, the method further comprises the steps of:
s24: receiving a working mode switching command, storing current field information in a remote intervention mode, controlling the robot to switch to the remote intervention mode according to the working mode switching command, and recovering the current field information in the working mode according to the current field information in the remote intervention mode.
The robot can be controlled to be switched to the working mode through the working mode switching command, and current field information in the remote intervention mode is stored before switching, so that the robot can conveniently acquire task execution states of the robot before and after an abnormal state according to the current field information in the remote intervention mode after being switched to the working mode, the robot can continue to execute tasks after the abnormal state according to the current field information in the remote intervention mode, normal work of the robot is guaranteed, and a normal state is recovered.
In the embodiment of the invention, two modes, namely a working mode and a remote intervention mode, respectively maintain own task pool and state information, when the modes are switched, the old mode is responsible for sealing current field information, the new mode is responsible for recovering the field information sealed in the early stage, and the switching and the recovery of the tasks are realized through the mode management and control.
As shown in fig. 2, the present invention further provides a robot remote control system, which includes a receiving switching module 100 and a receiving control module 200;
the receiving and switching module 100 is configured to receive a remote intervention command when the robot is abnormal in the working mode, and control the robot to switch to the remote intervention mode according to the remote intervention command;
the receiving control module 200 is configured to receive a remote control command in a remote intervention mode, and control the robot to perform physical movement according to the remote control command, so as to implement remote control of the robot.
According to the robot remote control system, when the robot works abnormally and cannot execute a task, the robot is controlled to be switched to a remote intervention mode by receiving a remote intervention command, and the robot is controlled to physically move according to the remote control command, so that the robot remote control is realized, the robot is assisted to recover a normal working state or a customized task, the abnormal recovery efficiency of the robot is greatly improved, the previous work can be continued after the normal working state is recovered through remote recovery, the working efficiency of the robot is greatly improved, and the maintenance cost is reduced.
In a preferred embodiment, the receiving and switching module 100 includes a first determining unit and a saving unit, where the first determining unit is configured to determine whether the real-time position determined by the robot is correct by matching the coincidence degree between the robot positioning sensor data and the map contour and verifying the coincidence degree between the robot camera feedback image and the environment map library; and/or whether the running state of the robot is normal is judged by detecting whether each equipment component of the robot reports errors and whether a perception sensor gives an alarm;
the storage unit is used for storing the current field information in the working mode when the real-time position of the robot is wrong and/or the running state is abnormal, and controlling the robot to be switched to a remote intervention mode according to the remote intervention command; otherwise, ending the control flow; the current field information comprises task information of a service layer, a scheduling layer and/or a motion layer and state information of the robot equipment.
In a preferred embodiment, the receiving switching module 100 further includes a first recovery unit, and the first recovery unit is configured to recover the current field information in the remote intervention mode according to the current field information in the working mode.
In a preferred embodiment, the receiving and switching module 100 further includes a second determining unit, where the second determining unit is configured to read a current mode of the robot, determine whether the current mode is a remote intervention mode, if so, indicate that the mode switching is successful, and receive a remote control command in the remote intervention mode; otherwise, generating and uploading switching failure information.
In a preferred embodiment, the receiving control module 200 further includes a third determining unit, where the third determining unit is configured to analyze the remote control command according to a preset communication protocol rule, determine whether the corresponding command can be correctly analyzed and whether each control parameter of the corresponding command is within an effective range, if so, determine that the remote control command is legal, and control the robot to perform physical movement according to the remote control command; otherwise, ending the control flow.
In a preferred embodiment, the receiving control module 200 further includes a detection unit, and the detection unit is configured to detect whether a new remote control command exceeds a preset time, and control the robot to stop moving and end the remote intervention mode when the preset time is exceeded.
In a preferred embodiment, the receiving control module 200 further includes a second recovery unit, where the second recovery unit is configured to receive a working mode switching command, store current field information in a remote intervention mode, control the robot to switch to the remote intervention mode according to the working mode switching command, and recover the current field information in the working mode according to the current field information in the remote intervention mode.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method.
The invention also provides a robot remote control device comprising the storage medium and a processor, the processor implementing the steps of the method when executing the computer program on the storage medium.
It will be apparent to those skilled in the art that, for convenience and simplicity of description, the foregoing functional units and modules are merely illustrated in terms of division, and in practical applications, the foregoing functional allocation may be performed by different functional units and modules as needed, that is, the internal structure of the terminal is divided into different functional units or modules to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned apparatus refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed terminal/terminal device and method can be implemented in other ways. For example, the above-described terminal/terminal device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logic function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, terminals or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A robot remote control method is characterized in that: the method comprises the following steps:
s10: when the robot is abnormal in the working mode, receiving a remote intervention command, and controlling the robot to be switched to a remote intervention mode according to the remote intervention command;
s20: and receiving a remote control command in a remote intervention mode, and controlling the robot to physically move according to the remote control command so as to realize remote control of the robot.
2. The robot remote control method according to claim 1, characterized in that: after receiving the remote intervention command, the method further comprises the following steps:
s11: judging whether the real-time position determined by the robot is correct or not by matching the coincidence degree of the data of the robot positioning sensor and the map outline and verifying the coincidence degree of the feedback image of the robot camera and the environment map library; and/or whether the running state of the robot is normal is judged by detecting whether each equipment component of the robot reports errors and whether a perception sensor gives an alarm;
if the real-time position of the robot is wrong and/or the running state is abnormal, storing the current field information in the working mode, and controlling the robot to be switched to a remote intervention mode according to the remote intervention command; otherwise, ending the control flow;
the current field information comprises task information of a service layer, a scheduling layer and/or a motion layer and state information of the robot equipment.
3. The robot remote control method according to claim 2, characterized in that: after the robot is controlled to be switched to the remote intervention mode according to the remote intervention command, the method further comprises the following steps:
s12: and recovering the current field information in the remote intervention mode according to the current field information in the working mode.
4. The robot remote control method according to claim 3, characterized in that: after the robot is controlled to be switched to the remote intervention mode according to the remote intervention command, the method further comprises the following steps:
s13: reading the current mode of the robot, judging whether the current mode is a remote intervention mode, if so, indicating that the mode switching is successful, and receiving a remote control command in the remote intervention mode; otherwise, generating and uploading switching failure information.
5. The robot remote control method according to any one of claims 1 to 4, characterized in that: after receiving the remote control command in the remote intervention mode, the method further comprises the following steps:
s21: analyzing the remote control command according to a preset communication protocol rule, judging whether the corresponding command can be analyzed correctly and whether each control parameter of the corresponding command is in an effective range, if so, judging that the remote control command is legal, and controlling the robot to perform physical movement according to the remote control command; otherwise, ending the control flow.
6. The robot remote control method according to claim 5, characterized in that: after the robot is controlled to perform physical movement according to the remote control command, the method further comprises the following steps:
s22: detecting whether a new remote control command is received, and if so, returning to the step S21; otherwise, go to S23;
s23: and detecting whether the received new remote control command exceeds the preset time or not, controlling the robot to stop moving when the preset time is exceeded, and ending the remote intervention mode.
7. The robot remote control method according to claim 6, characterized in that: the method further comprises the steps of:
s24: receiving a working mode switching command, storing current field information in a remote intervention mode, controlling the robot to switch to the remote intervention mode according to the working mode switching command, and recovering the current field information in the working mode according to the current field information in the remote intervention mode.
8. A robot remote control system is characterized in that: the system comprises a receiving switching module and a receiving control module;
the receiving and switching module is used for receiving a remote intervention command when the robot is abnormal in a working mode and controlling the robot to be switched to a remote intervention mode according to the remote intervention command;
and the receiving control module is used for receiving a remote control command in a remote intervention mode and controlling the robot to physically move according to the remote control command so as to realize remote control of the robot.
9. A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the method of any one of claims 1 to 7.
10. A robotic remote control device comprising a storage medium according to claim 9 and a processor which, when executing a computer program on the storage medium, carries out the steps of the method according to any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116682250A (en) * | 2023-06-06 | 2023-09-01 | 深圳启示智能科技有限公司 | Robot wireless remote control device |
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| CN116682250A (en) * | 2023-06-06 | 2023-09-01 | 深圳启示智能科技有限公司 | Robot wireless remote control device |
| CN116682250B (en) * | 2023-06-06 | 2024-02-13 | 深圳启示智能科技有限公司 | Robot wireless remote control device |
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