CN114603551A - Control method and electronic equipment - Google Patents
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- 230000033001 locomotion Effects 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 238000011160 research Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 238000003754 machining Methods 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 230000008447 perception Effects 0.000 description 4
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- 238000006073 displacement reaction Methods 0.000 description 3
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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 embodiment of the application discloses a control method and electronic equipment, wherein the low control method comprises the following steps: sending a target instruction to the robot, wherein the target instruction is used for instructing the robot to execute a target operation; receiving target stress information sent by the robot, and performing target feedback to a user based on the target stress information, wherein the target feedback comprises at least one of the following items: force feedback, vibration feedback, sound feedback and display prompt information feedback. The embodiment of the application provides a control method, which can solve the problem that the existing robot is poor in convenience in control.
Description
Technical Field
The embodiment of the application relates to the technical field of microwaves, in particular to a control method and electronic equipment.
Background
Teleoperation of a robot refers to an operator monitoring and controlling a remote robot to perform various tasks, so that the robot can replace a human to perform various tasks in inaccessible and even life-threatening environments. Unlike the conventional compound robot, the whole operation process does not need to be automatically completed by the robot, and the operation needs to be completed manually, which is the difference of teleoperation from other robots in nature.
At present, human operation is included in a control loop in related robot control, any upper-layer planning and cognitive decision is issued by a human user, and a robot body is only responsible for corresponding entity application, so that the convenience of the existing robot control is poor.
Disclosure of Invention
The embodiment of the application provides a control method and electronic equipment, and the problem that the existing robot is poor in control convenience can be solved.
In order to solve the technical problem, the embodiment of the application adopts the following technical scheme:
in a first aspect of the embodiments of the present application, a control method is provided, which is applied to an electronic device, and the method includes: sending a target instruction to a robot, wherein the target instruction is used for instructing the robot to execute a target operation; receiving target stress information sent by the robot, and performing target feedback to a user based on the target stress information, wherein the target feedback comprises at least one of the following items: force feedback, vibration feedback, sound feedback and display prompt information feedback.
In a second aspect of the embodiments of the present application, there is provided an electronic device, including: the device comprises a sending module and a receiving module. The sending module is used for sending a target instruction to the robot, and the target instruction is used for instructing the robot to execute target operation. The receiving module is configured to receive target stress information sent by the robot, and perform target feedback to a user based on the target stress information, where the target feedback includes at least one of the following: force feedback, vibration feedback, sound feedback and display prompt information feedback.
In the embodiment of the application, the electronic device can send a target instruction to the robot, wherein the target instruction is used for instructing the robot to execute a target operation; receiving target stress information sent by the robot, and performing target feedback to a user based on the target stress information, wherein the target feedback comprises at least one of the following items: force feedback, vibration feedback, sound feedback and display prompt information feedback. Compared with a robot in a fully autonomous mode, the robot technology of research interaction has more practical significance, and the robot of human-computer interaction attracts more and more researchers to pay attention to and research. Therefore, for the teleoperation system of multiple mobile robots, a semi-autonomous control mode has become a feasible and effective solution at present. The robot is particularly good at automatically executing specific repeated tasks, has the characteristics of good speed and accuracy and the like, and adds human intelligence into the robot to complete complex tasks under supervision or auxiliary control of an operator, namely a teleoperation system based on shared control is formed.
Drawings
FIG. 1 is a block diagram of a robot provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of a low control method according to an embodiment of the present disclosure;
FIG. 3 is a second schematic diagram of a low control method according to an embodiment of the present application;
fig. 4 is a third schematic diagram illustrating a low control method according to an embodiment of the present application;
FIG. 5 is a block diagram of a robot platform provided in an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first" and "second," and the like, in the description and in the claims of the embodiments of the present application, are used for distinguishing between different objects and not for describing a particular order of the objects.
In the description of the embodiments of the present application, the meaning of "a plurality" means two or more unless otherwise specified. For example, a plurality of elements refers to two elements or more.
The term "and/or" herein is an association relationship describing an associated object, and means that there may be three relationships, for example, a display panel and/or a backlight, which may mean: there are three cases, namely, a display panel alone, a display panel and a backlight together, and a backlight alone. The symbol "/" herein denotes a relationship in which the associated object is or, for example, input/output denotes input or output.
In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present relevant concepts in a concrete fashion.
In the related art, "Tele" is actually from greek, and its english meaning is "distance", meaning "far away", so it is intuitive that the human user and the robot body to be controlled have a certain physical distance, which is also the name of its teleoperation. Background from teleoperation of robots: teleoperation of a robot means that an operator monitors and controls a remote robot to perform various tasks, so that the robot can replace a human to perform various tasks in inaccessible and even life-threatening environments. Different from the prior composite robot, the whole operation process does not need to be finished automatically by the robot, and the operation needs to be finished manually, which is the difference of teleoperation and other robots essentially.
According to the novel teleoperation robot platform software design method, the teleoperation robot can be one of the earliest aspects and performances of the robot. By wording remotely operated robot is meant, which is generally understood to mean a robot controlled by a human operator or a robot in a loop. Any high-level, planned, or cognitive decisions are made by human users, while robots are responsible for their mechanical execution. Human operations are included in the control loop in the relevant robot control, any upper-layer planning and cognitive decisions are issued by human users, and the robot body is only responsible for corresponding entity applications.
Fig. 1 is a block diagram of a teleoperation robot, which is the simplest configuration of the teleoperation robot, and the configuration comprises an operator, a Master hand Master, communication, environment and a Slave hand Slave. Wherein the controller is mainly designed at the two ends of the master end robot and the slave end robot. The existing teleoperation robot is only used for simple communication between a master hand and a slave hand, does not adopt a force feedback technology when an object is grabbed or operated, and does not adopt telepresence processing on signals. In order to better control a master-slave end robot, realize teleoperation tasks and improve the performances of stability, transparency, followability and the like of a teleoperation system, firstly, a kinematics and dynamics model is accurately constructed for the robot.
An operator: the force applied by the operator to the master-end robot needs to be guaranteed to be bounded to ensure the stability of the teleoperation system.
Master Slave: modeling kinematics and dynamics of the robot, controller design, etc. The accuracy of the robot model directly affects the effects of position following and force feedback.
A communication end: the communication link (also called communication channel) is a bridge connecting the robot at the master end and the robot at the slave end to complete control in the teleoperation system, and plays an extremely important role. In the process of transmitting signals, the communication end inevitably generates transmission delay due to the self attribute, and the stability of the system is greatly influenced.
Slave hand Slave: similar to the master control end, the method mainly comprises the kinematics and dynamics modeling of the slave end robot, the controller design and the like. The robot model and controller design of the slave end also affect the stability and transparency of the whole system.
Remote environment: because the slave end-robot is subjected to forces from the environment, the environment needs to be modeled. The accuracy of the model of the environment will directly determine the value of the environmental force, affecting the transparency of the teleoperation system. At the same time, the environment is also guaranteed to be bounded by the forces exerted on the slave end robot to ensure the stability of the system.
The embodiment of the application provides a control method and electronic equipment, wherein the electronic equipment can send a target instruction to a robot, and the target instruction is used for instructing the robot to execute a target operation; receiving target stress information sent by the robot, and performing target feedback to a user based on the target stress information, wherein the target feedback comprises at least one of the following items: force feedback, vibration feedback, sound feedback, and display prompt information feedback. Compared with a robot in a full-autonomous mode, the robot technology for research interaction has practical significance, and the robot for human-computer interaction attracts more and more researchers to pay attention to and research. Therefore, for the teleoperation system of multiple mobile robots, a semi-autonomous control mode has become a feasible and effective solution at present. The robot is particularly good at automatically executing specific repeated tasks, has the characteristics of good speed and accuracy and the like, and intelligently adds people into the robot to complete complex tasks under supervision or auxiliary control of operators, namely a teleoperation system based on shared control is formed.
A control method and an electronic device provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.
Fig. 2 illustrates a control method provided in an embodiment of the present application. As shown in fig. 2, the control method provided by the present application may include step 101 and step 102.
In an embodiment of the present application, the target operation includes any one of: moving operation, grabbing operation and rotating operation.
In an embodiment of the present application, the target instruction includes a target parameter, where the target parameter is used to instruct the robot to perform an operation, and the target parameter includes any one of: a moving distance parameter, a grabbing force parameter and a rotation angle parameter.
And 102, receiving target stress information sent by the robot by the electronic equipment, and performing target feedback to a user based on the target stress information.
In an embodiment of the present application, the target feedback includes at least one of: force feedback, vibration feedback, sound feedback and display prompt information feedback.
Optionally, in this embodiment of the present application, with reference to fig. 2, as shown in fig. 3, before step 101, the control method provided in this embodiment of the present application may further include a subordinate step 201.
In the embodiment of the present application, the target instruction is: and the user triggers the electronic equipment to send the target instruction to the robot based on the target video picture.
Optionally, in this embodiment of the present application, the target feedback includes force feedback. Specifically, referring to fig. 2, as shown in fig. 4, the step 102 may be implemented by the following steps 102a and 102 b.
And 102a, the electronic equipment determines a target electric number corresponding to the target stress information based on the target stress information.
And 102b, the electronic equipment performs force feedback to the user according to the target electric signal.
It can be understood that, as shown in fig. 5, which is a block diagram of the intelligent teleoperation robot platform, the entire robot control software system includes robot controller software and upper computer scheduling software. The controller software adopts an SNRC IV type controller architecture:
operating the system: an E3845 controller is adopted, and a wind and river real-time operation system is adopted.
A basic function library: providing basic function functions for the robot system. The method comprises the following steps: 1) the robot service platform isolates the robot system from the operating system and realizes a basic bus protocol stack and a data tool; 2) and the robot algorithm library realizes related algorithm functions of the robot arm and the chassis.
Basic system of robot: the entire robotic system consists of three separate processes. The method comprises the following steps: 1) the mechanical arm platform process is used for controlling the mechanical arm of the composite robot and realizing functions of forward and backward solution of the model, trajectory planning, position interpolation and the like; 2) the mobile platform process is used for controlling the chassis of the composite robot, realizing map creation, real-time positioning, track planning, motion control, safety protection and the like of the chassis under the two-dimensional laser sensor, and starting different mobile platform processes for different mobile chassis; 3) and the coordination process is used for controlling the whole composite robot system and comprises power-on and power-off of the system, task coordination of the arm chassis and the like.
In the embodiment of the application, (the presence is force feedback + visual feedback + communication delay) the part is now the key point of the teleoperation robot, and a fixed camera is placed around the robot hand at the slave hand end and used for collecting multi-frame environment image information and sending the multi-frame environment image to the display user equipment at the master hand end, so that an operator can move the position of a user according to the multi-frame environment image. The code wheel value of the master or slave hand can reflect the movement displacement, so that the movement displacement is converted into movement instruction information according to the detected displacement of the user, wherein the movement instruction information comprises a movement distance, a speed and an acceleration. The force or pressure sensor mounted on the master or slave hand can reflect the force information of the robot contacting with the surrounding environment, so that the force information can be converted into the force-related instruction according to the detected force information. Communication delay and force feedback are collectively called presence feeling, and are the key points of research of scholars at home and abroad, and the aim of the scholars is to enable operators to operate robots as if the operators are in the field. The telepresence technology is the core of the interaction technology and comprises the perception degree of an operator to the remote environment and the control capability of the operator to the remote environment and tasks. On one hand, the position and motion information (including body, limbs, head, eyeballs and the like) of the local operator is transmitted to the remote robot as a control instruction, and on the other hand, the environmental information sensed by the remote robot and the interaction information (including vision, force, hearing, touch and the like) of the robot and the environment are fed back to the local operator in real time, so that the operator can generate an experience of being personally on the scene, and the robot can be effectively controlled to complete complex tasks. For an operator, the telepresence is oblivious to the immersion of the operator to the remote environment; for remote environments and tasks, telepresence refers to the reproduction of human intelligence in the remote location.
In the embodiment of the present application, in fact, force sensing and force control are the most important rings in achieving teleoperation. At present, due to the fact that environment perception, object recognition and positioning, and decision, planning and control technologies are not mature, the robot cannot achieve complete autonomous decision and autonomous operation in most environments. From the force sensor or the pressure sensor on the hand slave, can send the relevant data of power to the user side, and the user side can be according to this data, changes it into the signal of telecommunication. The master hand predicts the force signal after receiving the force signal, and makes up the force delay phenomenon caused by communication time delay, so that the feedback force is close to the realistic feeling. Therefore, man-machine cooperation teleoperation is an effective scheme in the development stage of the current technology.
Force sense perception, force feedback and force control are key technologies for teleoperation. The most typical example is a mechanical hand grasping a sponge. When grabbing easily deformable and fragile objects, the mechanical arm cannot replace the human hand.
In the embodiment of the present application, high machining accuracy is to be maintained while high-speed machining is performed. In addition to mechanical design and manufacture to ensure that the goals are met, the requirements for teleoperated systems have taken measures to reduce distortion and delay.
1) And the feedforward control is adopted to compensate errors generated after the servo, so that the machining precision is improved.
2) The error caused by the delay of acceleration and deceleration can be reduced by properly controlling the feed rate and adopting proper acceleration and deceleration curves.
3) The "look-ahead" control calculates, processes and multi-stage buffers the motion data prior to program execution, thereby controlling the tool to move at high speeds.
4) By real-time recognition in the form of commands, the speed, acceleration and acceleration of the machining can be optimally controlled to make the machining in an optimal state.
5) To prevent disturbances, digital filter techniques were developed.
The following examples are given for illustration:
teleoperation definition: the process of operating over a distance.
The teleoperation of the robot comprises the following partial elements: (1) an operator; (2) a robot body; (3) a remote control console; (4) a telecommunications system;
(1) distance: the operator cannot directly contact the object to be operated.
(2) The operation is as follows: and information is exchanged between the master-slave.
Feedback information (vision, position, force, etc.) is typically required. The conventional robot technology has high dependence on the working safety and the technical performance of the robot, such as the technologies of force control, navigation, vision and the like. These techniques, once they are problematic, can result in the robot being unusable, even affecting the sale and popularization of the robot. The teleoperation is realized by people through remote control, the whole safety depends on communication and safety logic, and the requirement on algorithm safety is not high.
The teleoperation robot is like the integration of remote control car, lunar vehicle, man-machine from the broad sense. It is only necessary to perform remote operation by a human being. Force control, navigation, and vision technologies are only auxiliary technologies to teleoperation. For example, vision technology is mostly used only in the primary stage of teleoperation as an image display function for operator detection and observation.
It can be understood that:
(1) the feedback joystick is a touch-type human-computer interaction force feedback device. The feedback joystick has two basic functions, one is input pose and the other is force tactile feedback. In six joints of the feedback joystick, 1, 2 and 3 joints are provided with an encoder and a direct current motor. The encoder is used for enabling a computer to read data on the encoder to obtain the pose condition of each joint in real time, and the direct current motor is used for determining the magnitude direction of the feedback force;
(2) and a remote operation console: the operation platform can be transformed on the basis of an operation platform of an outdoor vehicle, and can control the vehicle to walk and arms at the same time;
(3) force sensing and force control are, in fact, the most important rings in achieving teleoperation. At present, due to the fact that environment perception, object recognition and positioning, and decision, planning and control technologies are not mature, the robot cannot achieve complete autonomous decision and autonomous operation in most environments.
Fig. 6 shows an electronic device provided in an embodiment of the present application. The electronic device 60 may include a transmitting module 61 and a receiving module 62. The sending module 61 is configured to send a target instruction to the robot, where the target instruction is used to instruct the robot to perform a target operation. The receiving module 62 is configured to receive target stress information sent by the robot, and perform target feedback to a user based on the target stress information, where the target feedback includes at least one of the following: force feedback, vibration feedback, sound feedback and display prompt information feedback.
In one possible implementation, the electronic device further includes: at least one camera arranged on the robot. The receiving module 61 is further configured to receive a target video picture sent by the at least one camera, and display the target video picture. Wherein the target instruction is: and the user triggers the electronic equipment to send the target instruction to the robot based on the target video picture.
In one possible implementation, the target operation includes any one of: moving operation, grabbing operation and rotating operation; the target instruction comprises target parameters, the target parameters are used for indicating the robot to execute operation parameters, and the target parameters comprise any one of the following parameters: a moving distance parameter, a grabbing force parameter and a rotation angle parameter.
In one possible implementation, the electronic device 60 further includes: a determination module and a feedback module; the determining module is used for determining a target electrical signal corresponding to the target stress information based on the target stress information; and the feedback module is used for carrying out force feedback on the user according to the target electric signal.
In the embodiment of the application, the electronic equipment has practical significance compared with a robot in a fully autonomous mode in research interactive robot technology, and the robot in human-computer interaction attracts attention and research of more and more researchers. Therefore, for the teleoperation system of multiple mobile robots, a semi-autonomous control mode has become a feasible and effective solution at present. The robot is particularly good at automatically executing specific repeated tasks, has the characteristics of good speed and accuracy and the like, and adds human intelligence into the robot to complete complex tasks under supervision or auxiliary control of an operator, namely a teleoperation system based on shared control is formed.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the scope of the invention as defined by the appended claims.
Claims (8)
1. A control method applied to electronic equipment is characterized by comprising the following steps:
sending a target instruction to the robot, wherein the target instruction is used for instructing the robot to execute a target operation;
receiving target stress information sent by the robot, and performing target feedback to a user based on the target stress information, wherein the target feedback comprises at least one of the following items: force feedback, vibration feedback, sound feedback and display prompt information feedback.
2. The method of claim 1, wherein the electronic device further comprises: at least one camera arranged on the robot;
the method further comprises the following steps of sending a target instruction to the robot, wherein the target instruction is used for instructing the robot to execute a target operation, and before the robot executes the target operation:
receiving a target video picture sent by the at least one camera and displaying the target video picture;
wherein the target instruction is: and triggering the target instruction sent to the robot by the electronic equipment based on the target video picture by the user.
3. The method of claim 1 or 2, wherein the target operation comprises any one of: moving operation, grabbing operation and rotating operation;
the target instruction comprises target parameters, the target parameters are used for instructing the robot to execute operation parameters, and the target parameters comprise any one of the following parameters: a moving distance parameter, a grabbing force parameter and a rotation angle parameter.
4. The method according to claim 1 or 2, wherein in the case that the target feedback comprises force feedback, the performing target feedback to the user based on the target force information comprises:
determining a target electrical signal corresponding to the target stress information based on the target stress information;
and according to the target electric signal, force feedback is carried out on the user.
5. An electronic device, characterized in that the electronic device comprises: a transmitting module and a receiving module;
the sending module is used for sending a target instruction to the robot, and the target instruction is used for instructing the robot to execute a target operation;
the receiving module is configured to receive target stress information sent by the robot, and perform target feedback to a user based on the target stress information, where the target feedback includes at least one of the following: force feedback, vibration feedback, sound feedback and display prompt information feedback.
6. The electronic device of claim 5, further comprising: at least one camera arranged on the robot;
the receiving module is further configured to receive a target video picture sent by the at least one camera and display the target video picture;
wherein the target instruction is: and the user triggers the electronic equipment to send the target instruction to the robot based on the target video picture.
7. The electronic device of claim 5 or 6, wherein the target operation comprises any one of: moving operation, grabbing operation and rotating operation;
the target instruction comprises target parameters, the target parameters are used for instructing the robot to execute operation parameters, and the target parameters comprise any one of the following parameters: a moving distance parameter, a grabbing force parameter and a rotation angle parameter.
8. The electronic device of claim 5 or 6, further comprising: a determination module and a feedback module;
the determining module is used for determining a target electric signal corresponding to the target stress information based on the target stress information;
and the feedback module is used for carrying out force feedback on the user according to the target electric signal.
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| CN202011443447.8A CN114603551A (en) | 2020-12-08 | 2020-12-08 | Control method and electronic equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116160457A (en) * | 2023-04-21 | 2023-05-26 | 北京远鉴信息技术有限公司 | Control system and method of mechanical arm, electronic equipment and storage medium |
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