An unattended remote shared robot control system

Abstract

The application discloses an unattended remote shared robot control system and relates to the field of remote robot shared control. The system comprises a remote control terminal, a server and a robot terminal. The remote control terminal is used for facing users and operators and is provided with an interactive interface to realize remote control of the robot. The server is used for establishing a special communication tunnel of wireless / wired connection of the robot, a motion auxiliary device, a camera and the remote control terminal, receiving instructions sent by the remote terminal, message requests pushed by the robot terminal, and controlling the robot motion according to a strategy algorithm and controlling the motion auxiliary device to execute tasks on demand. The robot terminal is provided with a response program and is used for receiving strategy instructions of the local server to execute ontology control, sensing, cognition and decision-making. The motion auxiliary device is provided with a three-dimensional overhead crane guide rail and a camera to follow the robot to move in real time. Through interconnection of the control terminal and the remote robot, the human body in the sensing and control cabin is operated and collected by using the remote control terminal, so that the remote robot can simulate human body actions to realize remote mutual sensing control.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of remote robot shared control, more particularly to an unattended remote shared robot control system. BACKGROUND

[0002] The technical background of robot remote control and remote robot operation and sharing involves knowledge and technology in multiple fields, including the following aspects:

[0003] 1) Remote control technology: Remote control technology is the basis for realizing remote operation of robots. Through network communication and remote control protocols, operators can remotely send instructions and control signals to robots to achieve remote control of robots. This involves network communication, data transmission, control instruction analysis, etc.

[0004] 2) Sensor and perception technology: Remote robot operation requires robots to be able to perceive the remote environment and transmit the perceived information to the operator. This involves various sensors carried on the robot, such as cameras, laser radars, distance sensors, etc., as well as related perception and data processing technologies.

[0005] 3) Robot navigation and positioning technology: Remote-operated robots need to have autonomous navigation and positioning capabilities to move and operate in remote environments. This includes map building, path planning, positioning and navigation algorithms, etc., to ensure that robots can accurately execute remote instructions.

[0006] 4) Vision and image processing technology: Remote robot operation often relies on visual information for environmental perception and task execution. Vision and image processing technology can help robots perform target detection, object recognition, image segmentation, etc., to support remote operators' understanding and decision-making of remote environments.

[0007] 5) Real-time communication technology: Remote robot operation requires real-time two-way communication to ensure that operators can obtain the status and environmental information of robots in a timely manner and can send instructions and control signals to robots. This involves real-time communication protocols, network delay optimization, data flow management, etc.

[0008] 6) Data security and privacy protection technology: Remote robot operation involves the transmission and processing of sensitive information and private data, so appropriate security measures need to be taken to protect data security and privacy. This includes data encryption, identity authentication, access control, etc.

[0009] 7) Collaboration and sharing technology: Remote robot operation and sharing technology enables multiple operators to remotely collaborate on the same robot. This involves collaboration algorithms, task allocation, real-time synchronization, etc., to enable effective collaboration and resource sharing among multiple users.

[0010] Problems and shortcomings in the prior art

[0011] 1) Delay and bandwidth limitations: Remote operation involves transmitting instructions and receiving data over a network. Network delays and bandwidth limitations can cause delays in operation and instability in data transmission, affecting real-time performance and operation experience.

[0012] 2) Security and privacy issues: Remote operation and sharing involve the transmission and processing of sensitive data and private information, and there is a risk of data leakage and security vulnerabilities. Ensuring the security and privacy protection of data is an important challenge.

[0013] 3) Limitations of perception and environmental understanding: Remote robot operation needs to rely on sensors and perception technology to obtain environmental information. However, current perception technology still has certain limitations, such as challenges in target detection and recognition accuracy in complex environments.

[0014] 4) Lack of operation precision and operation feeling: Remote operation usually cannot provide the same operation precision and operation feeling as personal operation. For example, the operator cannot directly feel the texture, weight and force of the object, which may cause operation inaccuracy and difficulty.

[0015] 5) Limitations of human-computer interaction and communication: In remote operation, the communication and interaction between the operator and the robot are usually through the interface and instructions. However, this method may not provide an intuitive and natural interaction experience, limiting the effective communication and understanding between the operator and the robot.

[0016] 6) System complexity and cost: Establishing and maintaining a remote laboratory and a remote robot operation system usually requires a large amount of technical and resource investment, including equipment, network infrastructure, software development, etc. This increases the complexity and cost of the system, which may pose a challenge for some resource-limited environments. SUMMARY

[0017] Therefore, the present application provides an unattended remote shared robot control method.

[0018] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0019] An unattended remote shared robot control system, comprising:

[0020] A remote control terminal for facing users and operators, equipped with an interactive interface to realize remote control of the robot;

[0021] The server is configured to establish a dedicated communication tunnel of a wireless / wired connection robot, a motion auxiliary device, a camera and a remote control terminal, receive instructions sent by the remote terminal and message requests pushed by the robot terminal, and control the robot motion according to a strategy algorithm and control the motion auxiliary device to perform a task as required.

[0022] The robot terminal is configured to receive strategy instructions of the local server, perform ontology control, perception, cognition and decision, map a first visual stream of the robot back to the server, and further transmit the first visual stream back to the remote control terminal, and transmit sensor parameters of the robot in the motion process back to the server to perform real-time calculation of a motion posture and scene reproduction.

[0023] The motion auxiliary device is configured with a three-dimensional crane guide rail and a camera to follow the robot in real time.

[0024] Optionally, the motion auxiliary device is further configured to implement lifting, carrying and auxiliary navigation of the robot motion to reach any coordinates in a scene.

[0025] Optionally, the camera is configured to monitor the motion of the robot in real time, record and transmit the motion to the server.

[0026] Optionally, the motion auxiliary device further comprises an automatic charging function, when the robot terminal has a low power, sends a message push to the server, the server sends an instruction to the motion auxiliary system according to a priority to automatically control the crane guide rail to connect a charging device to the robot position to start automatic charging, and automatically disconnect the charging when the charging is completed.

[0027] Optionally, the robot terminal is equipped with a motion control module, a perception module and a communication module, wherein the motion control module is configured to control the motion and posture of the robot, the perception module comprises a 9-axis gyroscope for posture perception and an image collector for visual perception and image collection, and the communication module is configured to connect the server and the motion auxiliary device for data interaction.

[0028] Optionally, the response program of the robot terminal further formulates a communication interaction protocol with the server to receive instructions and control the motion of the robot, including a limb, a joint posture, a gait and camera shooting.

[0029] According to the above technical solution, compared with the prior art, the application provides an unattended remote shared robot control method, through interconnection of the control terminal and the remote robot, the human body in the sensing and control cabin is operated and collected by the remote control terminal, so that the remote robot can simulate human motion to realize remote mutual sensing control. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only a part of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of the provided drawings.

[0031] Fig. 1 For communication schematic diagram;

[0032] Fig. 2 For control schematic diagram. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] The embodiments of the present application disclose an unattended remote shared robot control system, as shown in the figure, comprising a remote control end, a server, a motion auxiliary device, a robot end, wherein: Figs. 1-2

[0035] The remote control end is oriented to users and operators, is equipped with an interactive interface, realizes remote control of the robot, panoramic video, robot perspective, code uploading and downloading.

[0036] The server is server networking, uses wireless / wired connection of the robot, the motion auxiliary device and the camera, establishes a special communication tunnel between the above devices and the remote control end, is responsible for receiving instructions sent by the remote end, message requests pushed by the robot end, and controls the robot motion according to a strategy algorithm, and controls the motion auxiliary device to execute tasks as needed.

[0037] The motion auxiliary device is equipped with a three-dimensional crown block guide rail and a camera, and is used to follow the robot in motion in real time, can realize lifting, carrying and auxiliary navigation of the robot motion, and realizes reaching any coordinate in the scene. The camera monitors the motion of the robot in real time, records and transmits the server. The motion auxiliary device also includes an automatic charging function. When the power of the robot end is low, a message is pushed to the server. After the server judges according to the priority, an instruction is sent to the motion auxiliary system to automatically control the crown block guide rail to connect the charging device at the robot position and start automatic charging. After charging is completed, the power is automatically cut off.

[0038] The robot end is equipped with a motion control module, a perception module and a communication module, wherein

[0039] ​Motion control module: control the action and posture of the robot;

[0040] Perception module, including: 9-axis gyroscope for posture perception; image collector for visual perception, image collection;

[0041] Communication module, for connecting the server and the motion auxiliary device, data interaction.

[0042] Robot end, equipped with response program, receiving the strategy instruction of local server, executing ontology control, perception, cognition and decision. Map the first perspective video stream of the robot back to the server, and further back to the remote control end. The sensor parameters in the motion process of the robot are transmitted back to the server for real-time solution of motion posture and scene reproduction.

[0043] Scene camera, the external scene is equipped with multiple cameras, connected with the server, real-time monitoring and recording the whole motion process of the remote robot.

[0044] Strategy algorithm of server end, the server receives the message push from the motion auxiliary device and the robot in real time, executes the response task according to the priority, at the same time meets the instruction issued by the remote control end, pushes the execution result to the remote control end.

[0045] Response program of robot end, which formulates the communication interaction protocol between the server, mainly used to receive instructions and control the action of the robot downward, including limb, joint posture, gait, camera shooting, etc.

[0046] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same and similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be referred to the method part.

[0047] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An unattended remote shared robot control system, characterized in that, The application relates to a remote control system for a robot, comprising: a remote control terminal for facing users and operators, which is provided with an interactive interface to realize remote control of the robot; a server for establishing a special communication tunnel of wireless / wired connection of the robot, a motion auxiliary device and a camera with the remote control terminal, receiving instructions sent by the remote end, message requests pushed by the robot end, and controlling the robot motion according to a strategy algorithm and controlling the motion auxiliary device to execute tasks according to requirements; a robot end provided with a response program, which is used for receiving strategy instructions of the local server, executing ontology control, perception, cognition and decision, mapping first visual angle video stream of the robot back to the server and further transmitting the video stream back to the remote control terminal, transmitting sensor parameters of the robot in the motion process back to the server to realize real-time solving of the motion posture and scene reproduction; a motion auxiliary device provided with a three-dimensional overhead crane guide rail and a camera to follow the robot to move in real time; a camera for monitoring the motion of the robot in real time, recording and transmitting the motion to the server; the motion auxiliary device further comprises an automatic charging function, when the robot end has low power, the robot end sends a message push to the server, the server judges according to priorities, sends instructions to the motion auxiliary system, automatically controls the overhead crane guide rail to connect the charging device to the robot position, starts automatic charging, and automatically disconnects after the charging is completed; the robot end is provided with a motion control module, a perception module and a communication module, wherein the motion control module is used for controlling the motion and posture of the robot; the perception module comprises a 9-axis gyroscope for posture perception and an image collector for visual perception and image acquisition; the communication module is used for connecting the server and the motion auxiliary device for data interaction; the response program of the robot end further formulates a communication interaction protocol with the server, which is used for receiving instructions and controlling the motion of the robot, including limbs, joint postures, gaits and camera shooting.

2. The unattended remote shared robot control system of claim 1, wherein, The motion auxiliary device is further used for realizing lifting, carrying and assisting navigation of the robot motion and realizing reaching any coordinates in a scene.

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