CN113848952A - Remote control delay judgment and obstacle pre-judgment method and robot system - Google Patents
Remote control delay judgment and obstacle pre-judgment method and robot system Download PDFInfo
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- CN113848952A CN113848952A CN202111233742.5A CN202111233742A CN113848952A CN 113848952 A CN113848952 A CN 113848952A CN 202111233742 A CN202111233742 A CN 202111233742A CN 113848952 A CN113848952 A CN 113848952A
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- 230000009471 action Effects 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a delay judgment and obstacle pre-judgment method for remote control and a robot system. The method comprises the following steps: the control platform calculates the initial position of the robot in the control platform map and the moving line in the map according to the moving robot instruction and the map of the robot, and sends the initial position and the moving line serving as the control instruction to the robot; and the robot moves to the initial position and then travels along the moving route according to the received control instruction and the map stored by the robot. According to the scheme, the control instruction with the starting position and the moving route is generated, so that the robot can travel according to the starting position and the moving route in the map. The situation that the robot is in danger when the robot is remotely controlled to move to a dangerous area due to network delay is avoided. Meanwhile, the robot can complete obstacle detection and obstacle avoidance, and the control safety of the robot is further guaranteed.
Description
Technical Field
The invention relates to the field of remote control of robots, in particular to a delay judgment and obstacle pre-judgment method for remote control and a robot system.
Background
The robot remote control is that the human-computer control equipment and the robot are connected in a remote communication mode through a network and other remote communication modes, an operator can operate on the human-computer control equipment, the human-computer control equipment can send an operation instruction of the operator to the robot through the remote communication, and the robot can respond to the control instruction of the operator. Such as forward and reverse. In particular, some remote controls are based on video data transmitted back by a camera on the robot, and an operator controls the robot after viewing the video. Because the network has delay, the problem that the operation instruction does not correspond to the real-time situation of the robot exists, and dangerous situations such as moving, blocking, collision or falling of the robot are easily caused.
Disclosure of Invention
Therefore, it is desirable to provide a delay determination and obstacle pre-determination method for remote control and a robot system, which solve the problem that a dangerous situation may occur when a robot is remotely controlled due to network delay.
In order to achieve the above object, the present invention provides a delay judgment and obstacle pre-judgment method for remote control, comprising the following steps:
the control platform receives a command of moving the robot by people, calculates the initial position of the robot in the map of the control platform and the moving line in the map according to the command of the moving robot and the map of the robot, and sends the initial position and the moving line serving as the control command to the robot;
the robot receives a control instruction sent by the control platform through the remote communication module;
the robot moves to the initial position and then travels along the moving route according to the received control instruction and the map stored by the robot;
the robot identifies surrounding obstacles by a sensor during traveling and avoids the obstacles.
Further, the method also comprises the following steps: the robot acquires a current environment picture by a camera of the robot and sends the current environment picture to the control platform through the remote communication module, and the control platform displays the environment picture after receiving the environment picture.
Further, the mobile robot command comprises forward movement, backward movement or rotation movement controlled by a person and time corresponding to each movement, and the control platform calculates a moving route according to the movement and the time.
Further, the control platform simulates the robot to move and display on the displayed platform map according to the control instruction.
Further, the robot acquires the current position of the map according to the sensor of the robot and sends the current position to the control platform in real time, and the control platform displays the position of the robot on the displayed platform map according to the received position.
Further, the method also comprises the following steps: the robot uploads the position information of the identified obstacle to the control platform, and the control platform displays the obstacle on the map according to the position information after receiving the position information of the obstacle.
The invention provides a robot system comprising a robot and a remotely connected control platform, the robot system implementing the steps of the method according to any one of the embodiments of the invention.
Different from the prior art, the technical scheme can enable the robot to travel according to the starting position and the moving route in the map by generating the control instruction with the starting position and the moving route. The situation that the robot is in danger when the robot is remotely controlled to move to a dangerous area due to network delay is avoided. Meanwhile, the robot can complete obstacle detection and obstacle avoidance, and the control safety of the robot is further guaranteed.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1 to 2, the present embodiment provides a method for determining delay and determining obstacle in a remote control, which can be applied to the robot system of fig. 2. The robot comprises a T-BOX controller for control, a mechanism for steering and walking, a camera and a sensor, wherein the sensor can be a perception sensor, such as a laser, a radar or an infrared probe. The map information of the current area is stored in the robot, and the position of the robot in the map can be determined through sensor positioning. The control platform comprises a display device and a man-machine interaction device, such as a control rocker or a keyboard and a mouse, a touch screen and the like. The control personnel can realize the input of the instruction by operating the human-computer interaction equipment. The control platform also stores map information of the area where the robot is located. The display device may be used to display a map screen.
When the robot control system is implemented, firstly, a controller controls the robot through the human-computer interaction equipment. For example, a moving track trace of the robot is drawn on a touch screen on which a robot map is displayed, or a rocker is controlled to move the robot forward for a period of time. Then, the process proceeds to step S101: the control platform receives a command of moving the robot by people, calculates the initial position of the robot in the map of the control platform and the moving line in the map according to the command of the moving robot and the map of the robot, and sends the initial position and the moving line serving as the control command to the robot. If the moving line trace on the map displayed on the touch screen is the starting position of the robot, the starting position of the moving line trace is the starting position of the robot, and the moving line trace is the moving line which the robot needs to move. If the control mode is a rocker and the like, a robot position (the position can be a real-time position sent by the robot) can be initialized on a map as an initial position, and then the moving direction and distance can be determined according to the direction and time controlled by the rocker, so that a moving line is formed. And then the control personnel can confirm the sending operation (the control personnel do not send the command without confirmation, so as to avoid misoperation), and the control command can be remotely sent to the robot. The method proceeds to step S102, where the robot receives a control command sent by the control platform through the remote communication module. The remote communication module can be an internet of things module or an internet module, and realizes remote network communication.
And then, in step S103, the robot moves to the initial position and then travels along the moving route according to the received control command and the map stored by the robot. The starting position includes the position of the robot in the map, and the moving route is also the moving route of the robot in the map. The robot can acquire the conditions of the surrounding environment through the sensor so as to determine the position of the robot in the map, and then the robot can move. In the moving process, the method further comprises a step S104 of identifying surrounding obstacles by the self-sensor during the robot moving process, and avoiding the obstacles. After avoiding the obstacle, the vehicle can continue to travel along the incomplete moving route, so that the response to the control command is completed. Therefore, the control platform sends the starting position and the advancing route related to the map, the video return can be separated from the control, even if the video return is delayed, the robot can advance according to the control instruction of the control, the situation that the robot currently walks to a dangerous area can not occur, and the safety of the robot is ensured. Meanwhile, the safety of the robot can be further ensured by judging the barrier.
In order to display the environment picture where the robot is currently located, the invention further comprises the following steps: the robot acquires a current environment picture by a camera of the robot and sends the current environment picture to the control platform through the remote communication module, and the control platform displays the environment picture after receiving the environment picture. Therefore, the person can know the condition of the robot through the displayed environment picture video.
Further, the mobile robot command comprises forward movement, backward movement or rotation movement controlled by a person and time corresponding to each movement, and the control platform calculates a moving route according to the movement and the time. When the robot moves or rotates, a preset moving speed or rotating speed exists, and the corresponding moving distance can be calculated through the command action and the time, so that a corresponding moving route can be generated. The invention can also carry out real-time control, and the control platform can complete real-time control only by sending the generated initial position and the moving route to the robot in real time after receiving the real-time operation command. Or during real-time control, the control platform sends the forward movement, the backward movement or the rotation movement to the robot through remote control in real time, and the control can be realized only by the fact that the robot returns an environment picture in real time. In some embodiments, the environment picture includes a time parameter, the control platform further includes a current time parameter when sending the control command, and the robot records a walking position and a corresponding time. When the robot receives the control instruction, the time parameter, the recorded time and the corresponding position are used as the position of the control instruction, and then the action instruction is realized at the position. Even if the screen is delayed, the control instruction of the operator on the screen can be realized, and the wrong movement can be avoided. If the robot is located at the A position at the A time to form an A picture with the A time, the control platform receives the A picture, then the robot moves to the B position due to delay, but the control platform is also the A picture, at the moment, a controller needs to back on the A picture, the control platform sends the time A of the A picture and a back instruction to the robot, and the robot knows that the robot moves back on the A position according to the received time A, returns to the A position to move back, and does not move back on the B position. Therefore, the control picture and the control command are corresponding at the robot, and the wrong remote control caused by delay is avoided.
In order to display the moving condition of the robot in advance, the control platform simulates the robot to move and display on the displayed platform map according to the control instruction. After the simulation, the position of the robot can be reflected in real time, and even if the robot is not updated due to the delay of the robot, the actual position of the robot can be known and used as a subsequent control reference.
In the actual control process, the robot needs to feed back the position in real time, the robot acquires the current position of the map according to a sensor of the robot and sends the current position to the control platform in real time, and the control platform displays the position of the robot on the displayed platform map according to the received position. The real-time position of the robot and the simulated robot movements described above may be displayed in different colors. The display picture of the map and the real-time environment picture of the camera can be displayed on different pictures, and the real-time environment picture can also be displayed on a small window at the position of the robot on the map, so that when the position of the robot moves, the environment picture video window also moves along with the movement, and the control personnel can conveniently check the real-time environment picture.
In order to facilitate the control personnel to guide the obstacle situation, the method also comprises the following steps: the robot uploads the position information of the identified obstacle to the control platform, and the control platform displays the obstacle on the map according to the position information after receiving the position information of the obstacle. Therefore, the control personnel can know the position of the obstacle from the map, and the obstacle can be avoided by the route control.
The invention provides a robot system comprising a robot and a remotely connected control platform, the robot system implementing the steps of the method according to any one of the embodiments of the invention. The system scheme can lead the robot to travel according to the starting position and the moving route in the map by generating the control instruction with the starting position and the moving route. The situation that the robot is in danger when the robot is remotely controlled to move to a dangerous area due to network delay is avoided. Meanwhile, the robot can complete obstacle detection and obstacle avoidance, and the control safety of the robot is further guaranteed.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (7)
1. A delay judgment and obstacle pre-judgment method of remote control is characterized by comprising the following steps:
the control platform receives a command of moving the robot by people, calculates the initial position of the robot in the map of the control platform and the moving line in the map according to the command of the moving robot and the map of the robot, and sends the initial position and the moving line serving as the control command to the robot;
the robot receives a control instruction sent by the control platform through the remote communication module;
the robot moves to the initial position and then travels along the moving route according to the received control instruction and the map stored by the robot;
the robot identifies surrounding obstacles by a sensor during traveling and avoids the obstacles.
2. The method of claim 1, further comprising the steps of: the robot acquires a current environment picture by a camera of the robot and sends the current environment picture to the control platform through the remote communication module, and the control platform displays the environment picture after receiving the environment picture.
3. The method of claim 1, wherein the method comprises: the mobile robot command comprises forward movement, backward movement or rotation movement controlled by a person and time corresponding to each movement, and the control platform calculates a moving route according to the movement and the time.
4. The method of claim 1, wherein the method comprises: and the control platform simulates the robot to move and display on the displayed platform map according to the control instruction.
5. The method of claim 1, wherein the method comprises: the robot acquires the current position of the map according to a sensor of the robot and sends the current position to the control platform in real time, and the control platform displays the position of the robot on the displayed platform map according to the received position.
6. The method of claim 1, further comprising the steps of: the robot uploads the position information of the identified obstacle to the control platform, and the control platform displays the obstacle on the map according to the position information after receiving the position information of the obstacle.
7. A robotic system, characterized by: comprising a robot and a remotely connected control platform, said robot system implementing the steps of the method according to any of claims 1 to 6.
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| CN202111233742.5A CN113848952A (en) | 2021-10-22 | 2021-10-22 | Remote control delay judgment and obstacle pre-judgment method and robot system |
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| CN202111233742.5A CN113848952A (en) | 2021-10-22 | 2021-10-22 | Remote control delay judgment and obstacle pre-judgment method and robot system |
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Citations (8)
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| JP2006113858A (en) * | 2004-10-15 | 2006-04-27 | Mitsubishi Heavy Ind Ltd | Method and system for supporting remote operation for mobile object |
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| CN111496776A (en) * | 2019-01-30 | 2020-08-07 | 株式会社安川电机 | Robot system, robot control method, robot controller, and recording medium |
| CN112050813A (en) * | 2020-08-08 | 2020-12-08 | 浙江科聪控制技术有限公司 | Laser navigation system for anti-riot one-zone mobile robot |
| CN112148003A (en) * | 2020-09-01 | 2020-12-29 | 湖南格兰博智能科技有限责任公司 | Path optimization method and system based on robot and electronic equipment |
| CN112284389A (en) * | 2020-09-28 | 2021-01-29 | 深圳优地科技有限公司 | Mobile robot path planning method and device, mobile robot and storage medium |
| CN113459090A (en) * | 2021-06-15 | 2021-10-01 | 中国农业大学 | Intelligent obstacle avoiding method of palletizing robot, electronic equipment and medium |
-
2021
- 2021-10-22 CN CN202111233742.5A patent/CN113848952A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006113858A (en) * | 2004-10-15 | 2006-04-27 | Mitsubishi Heavy Ind Ltd | Method and system for supporting remote operation for mobile object |
| CN108604096A (en) * | 2016-01-28 | 2018-09-28 | 三星电子株式会社 | Show the method and its electronic equipment of image |
| CN111033424A (en) * | 2017-08-17 | 2020-04-17 | 罗伯特·博世有限公司 | Method for detecting the position of a moving robot vehicle, and robot vehicle and system |
| CN111496776A (en) * | 2019-01-30 | 2020-08-07 | 株式会社安川电机 | Robot system, robot control method, robot controller, and recording medium |
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