CN202079595U

CN202079595U - Novel control platform for tele-operation of remote robot

Info

Publication number: CN202079595U
Application number: CN2010200447385U
Authority: CN
Inventors: 李东洁; 尤波; 邹宇; 肖万哲
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2010-01-08
Filing date: 2010-01-08
Publication date: 2011-12-21
Anticipated expiration: 2020-01-08

Abstract

The utility model discloses a novel control platform for tele-operation of a remote robot. A conventional master-slave human-machine interaction control system is usually known as an effective tele-operation method, however, operation quality is determined by the operator, not only is a long time cost on training of the operator, but also high-precision operation is completed difficultly because the operator gets tired easily due to large labor intensity. The novel control platform disclosed by the utility model comprises a client terminal machine (1) and a server (2), wherein the client terminal machine is connected with the server by a network signal; the client terminal machine includes human-machine interaction equipment (4) which is connected with both a display (5) and a data comparator (6); the server includes a remote robot control unit (9) which is connected with the remote robot (10); the remote robot is connected with a data collecting unit (11) and video monitoring equipment (12). The novel control platform disclosed by the utility model is applied to tele-operation of the robot.

Description

Novel distant operation REMOTE MACHINE people controls platform

Technical field:

The utility model belongs to REMOTE MACHINE people control technology field, is specifically related to a kind of novel distant operation REMOTE MACHINE people console.

Background technology:

At present, human-computer interaction technology remains one of research focus of remote end robot control system.Traditional master-slave mode people and intersection control routine are considered to a kind of effective distant method of operating usually, be actually people, machine cooperative system, finish operation under the complex environment by people's intelligence and experience, its operational quality is determined by operating personnel, not only to spend long-time training and operation personnel, and the operator when working labour intensity big, fatiguability is difficult to finish high precision manipulation.

The development of virtual reality system has raised out the AR technology, and it generates virtual environment by computer, can carry out well alternately with environment by virtual reality peripheral hardware operator, and be that the operator has a kind of sensation on the spot in person.Lot of domestic and international scholar is used for distant operation with virtual reality technology, makes that traditional distant operation control is more efficient.The AR technology is fused to the virtual information that computer generates in the real world, realization replenishes real world, make virtual information become the part of real world on every side from sense organ, but the AR technology just realizes the additional of real world rather than substitutes actual environment fully, certain limitation is still arranged.

The application of video integration technology has been played certain impetus to the development of remote end robot control system, it merges video information and the operation model figure that actuating station feeds back in same display window, make easier more direct observation of operator, it has improved modeling error and motion add up error and motion add up error, improve security, the accuracy of system to a certain extent, reduced the activity duration.But still there is certain deficiency in it: 1) the video integration technology is that the fusion demonstration that relies on dummy model and video is controlled, and the transmission existence of video information contains much information and propagation delay time is big, be difficult for carrying out delay compensation; 2) because the coordinate that video merges back camera malleable not, therefore the error condition from the observation at a certain angle might not reflect real error condition, as if only adopting the video integration technology well not fulfil assignment.

Summary of the invention:

The purpose of this utility model provides a kind ofly to be controlled novel distant operation REMOTE MACHINE people to Motoman industrial machine arm and controls platform.

The purpose of above-mentioned utility model realizes by following technical scheme:

Novel distant operation REMOTE MACHINE people controls platform, its composition comprises: client terminal machine and server, described client terminal machine is by network signal Connection Service device, and described client terminal machine comprises the human-computer interaction device, and described human-computer interaction device connects display, data comparator simultaneously; Described server comprises REMOTE MACHINE people control module, described REMOTE MACHINE people control module connects the REMOTE MACHINE people, described REMOTE MACHINE people connects data acquisition unit and the described novel distant operation REMOTE MACHINE people of video surveillance devices controls platform, described operation model is connected display with feedback model, and described feedback model connects data comparator.

Beneficial effect:

1. of the present utility model have the feedback transmission time delay little, can add feedback delay compensation, can be from arbitrarily angled reflection REMOTE MACHINE people's moving situation, can show the information of more doing more physical exercises, combine with video integration technology ingenious, characteristics that the while can also observe virtual and real REMOTE MACHINE people's moving situation intuitively, compare with traditional remote control system, the operation stand-by period shortens greatly, improved the accuracy and the security of distant operation, operating efficiency is increased substantially.

The utility model is by pair dummy models stack Display Techniques, and the operator can finish the operation of high accuracy and relative complex by remote control distal ends robot, thereby realizes human in the harmful safe and reliable operation that reaches under the dynamic environment of danger.

Description of drawings:

Fig. 1 is that novel distant operation REMOTE MACHINE people of the present utility model controls the platform framework block diagram.

Fig. 2 is a control program operational flowchart of the present utility model.

The specific embodiment of the present utility model:

Embodiment 1:

Novel distant operation REMOTE MACHINE people controls platform, its composition comprises: client terminal machine 1 and server 2, described client terminal machine 1 arrives server 2 by network signal transmission 3, described client terminal machine 1 comprises human-computer interaction device 4, and described human-computer interaction device 4 connects display 5, data comparator 6 simultaneously and superposes 13 together operation model 7 and feedback models 8; Described server 2 comprises REMOTE MACHINE people control module 9, and described REMOTE MACHINE people control module 9 connects REMOTE MACHINE people 10, and described REMOTE MACHINE people 10 connects data acquisition unit 11 and video surveillance devices 12.

Described novel distant operation REMOTE MACHINE people controls platform, and described operation model is connected display with feedback model, and described feedback model connects data comparator.

Embodiment 2:

Embodiment 1 described novel distant operation REMOTE MACHINE people controls the method for operating of platform, and described operating process shows two dummy models---operation model and virtual feedback model in same display window stack;

Described virtual feedback model is synchronous with true REMOTE MACHINE people's motion, the operator is by operation model simulation REMOTE MACHINE people's motion, and movable information sent to the distal ends robot, and the motion of virtual feedback model is to be controlled by the motion feedback information of distal ends robot;

Described feedback information is real-time joint motions sensor information, data are little, time delay is little, and can remedy the motion add up error that time delay causes by the model angle compensation, makes the motion of virtual feedback model and true REMOTE MACHINE people's moving situation be consistent;

Described pair of dummy model shows and the fusion of far-end video feed information, can be more prone to detect with control intuitively by the true REMOTE MACHINE people's of video monitor window real time monitoring job status;

It is that control system is judged by data that final position between described operation model and the virtual feedback model overlaps, and overlaps to judge it is accurate, does not overlap if motion is finished, and system then adds motion compensation according to data;

Described control program can be required by operation, and the track of real-time rendering two dummy model end effectors according to the display window track of being drawn, can be judged the validity of true REMOTE MACHINE people motion;

Described virtual feedback model can embody multiple real information easilier, intuitively reflects by change color and carries out short stressing conditions;

Described two dummy models can amplify with local in arbitrarily angled rotation adjustment, can each distance from different perspectives go to observe two positions relations between the model.

Embodiment 3:

Embodiment 1 or 2 described novel distant operation REMOTE MACHINE people control the method for operating of platform, described operating process,

(1) open system servo power supply, planning REMOTE MACHINE people operation track, client terminal machine control operation model, whether its running orbit of movement observation meets job requirements, comprises whether whether level and smooth, the final pose of avoiding barrier location is accurate.If will see the moving situation of looking into operation model in detail, select track drafting to carry out detailed track and draw, can obtain the track of operation model clearly at display window.

(2) if operation model satisfies corresponding job requirements, the client terminal machine sends operating instruction to the true REMOTE MACHINE people of far-end, true REMOTE MACHINE people moves and beams back data simultaneously in real time to virtual feedback model, guarantee virtual feedback model and true REMOTE MACHINE people synchronously; If job requirements is not satisfied in the motion of operation model, can manually adjust the joint angles of operation model or, movement locus be rationalized in the displacement of cartesian space coordinate system.

(3) select then track drafting, but accurate Drawing goes out the movement locus of virtual feedback model, its track also is true REMOTE MACHINE people movement locus simultaneously.

(4) with operation display window concurrent working, also have video monitoring window, can open the video monitoring equipment according to job requirements, use the video integration technology working space is monitored in real time, prevent unexpected the generation, guarantee job safety.

(5) need by operation, adjust observation angle slide block, the local slide block that amplifies, from different perspectives, far and near two dummy models are examined.

(6) fulfil assignment after, select work origin, operation model and virtual feedback model are successively got back to the operation initial point, and inregister.

Embodiment 4:

Embodiment 1,2 or 3 described novel teleoperation robot control methods, two dummy model stacks show control; The control operation model moves at known working space, observes its operation conditions by the models show window; If satisfy job requirements, send instructions to the distant robot of far-end, make its movement locus carry out actual motion according to operation model; Feedback model shows real machine people's moving situation in real time on display window; Can monitor real machine people's operation situation by the video monitor window.The operator can remote control REMOTE MACHINE people finish the operation of high accuracy and relative complex, thereby realizes human in the harmful safe and reliable operation that reaches under the dynamic environment of danger.

Claims

1. one kind Novel distant operation REMOTE MACHINE people controls platform, its composition comprises: client terminal machine and server, it is characterized in that: described client terminal machine is by network signal Connection Service device, described client terminal machine comprises the human-computer interaction device, and described human-computer interaction device connects display, data comparator simultaneously; Described server comprises REMOTE MACHINE people control module, and described REMOTE MACHINE people control module connects the REMOTE MACHINE people, and described REMOTE MACHINE people connects data acquisition unit and video surveillance devices.