Mechanical arm remote cooperation system and method suitable for inspection robot

Abstract

The invention discloses a mechanical arm remote cooperation system and method suitable for an inspection robot, and belongs to the technical field of inspection robots, the system comprises a six-axis synchronous mechanical arm, a mechanical arm remote operation device and a communication link, the six-axis synchronous mechanical arm is applied to the inspection robot, and the mechanical arm remote operation device is applied to the inspection robot. The mechanical arm teleoperation device is used for obtaining hand motion data of an operator and generating a corresponding control instruction, the control instruction is transmitted to the six-axis synchronous mechanical arm through the communication link, the six-axis synchronous mechanical arm executes corresponding actions according to the received control instruction, and real-time state information is fed back to the mechanical arm teleoperation device through the communication link. The mechanical arm teleoperation device dynamically adjusts the control instruction according to the fed-back real-time state information, and bidirectional feedback control is achieved. According to the mechanical arm remote cooperation system and method, the operation flexibility, accuracy and efficiency of the inspection robot can be remarkably improved, meanwhile, the labor intensity of an operator is reduced, and it is ensured that an inspection task is safely and efficiently completed.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a robotic arm remote collaboration system and method suitable for inspection robots. Background Art

[0002] The background technology of teleoperated remote collaborative robotic arm technology involves the combination and application of multiple fields, including control systems, communication networks, sensor feedback, machine learning, virtual reality, etc. Although teleoperated remote collaborative robotic arm technology has been widely used in many fields, there are still many shortcomings in the existing technology. The main problems include delay and real-time problems, imperfections in feedback systems, complexity of collaborative control, deficiencies in networks and communications, limitations of operator interaction experience, and security issues. These shortcomings limit the accuracy, stability, flexibility, and scalability of the system, affecting its application effect in high-precision tasks or complex environments.

[0003] The prior art document (CN118238147A) discloses a bionic manipulator human-computer interaction system and method based on remote operation. The interactive system includes a head-mounted VR display, a wearable armband, a force feedback glove, a local host, an unmanned vehicle platform, a depth camera, a manipulator and a remote host; the head-mounted VR display, the wearable armband, and the force feedback glove are all connected to the local host signal, the unmanned vehicle platform, the depth camera, and the manipulator are all connected to the remote host signal, and the local host is connected to the remote host in communication. The interactive method includes three parts: controlling the movement of the manipulator, realizing force tactile feedback, and displaying the manipulator-related information in parallel.

[0004] Its shortcomings include: (1) Limited hand motion recognition accuracy and stability: Although the system uses surface electromyography and inertial signals to improve the stability and robustness of gesture recognition, its recognition accuracy may still be affected by factors such as sensor position and signal interference, and cannot fully guarantee high accuracy and high stability under all operating conditions. (2) Insufficient immersion and realism: Although the system uses head-mounted VR displays, force feedback gloves and other devices to enhance the immersion of remote operation, the user experience of these devices still has room for improvement, especially in terms of the authenticity and delicacy of force tactile feedback. (3) Complexity of robotic arm control: Although the system achieves the conversion of gesture signals to control signals by establishing a robotic arm dynamics model based on the DH parameter method, the complex motion control of the robotic arm still faces challenges, especially in unstructured environments. The precise control and response speed of the robotic arm still need to be improved. (4) Communication delay and real-time issues: There may be delays in the communication connection between the local host and the remote host of the system, which will affect the real-time performance of remote operation. Especially in scenarios that require rapid response, delays may lead to operational errors. (5) Safety issues: In extremely dangerous environments, the safety of the system is crucial. Although the system can reduce the operator's risk through virtual environment and force tactile feedback, the safety mechanism still needs to be further strengthened to ensure that the operator and equipment can be reliably protected under any circumstances. (6) System flexibility and scalability: Although the system is designed with multiple modules in mind, the flexibility and scalability of the system still need to be improved in actual applications. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the present invention provides a remote collaborative system and method for a robotic arm applicable to an inspection robot, which is a new technology combining remote control technology with robotic arm technology. It has broad application prospects and has become a hot topic and focus of research at home and abroad. The present invention can significantly improve the operational flexibility, accuracy and efficiency of the inspection robot, while reducing the labor intensity of the operator, ensuring the safe and efficient completion of the inspection task.

[0006] The technical solution adopted by the present invention is as follows.

[0007] A first aspect of the present invention provides a remote collaboration system for a robotic arm of an inspection robot, comprising:

[0008] A six-axis synchronous robotic arm, a robotic arm teleoperator and a communication link. The six-axis synchronous robotic arm is applied to an inspection robot. The robotic arm teleoperator is used to obtain the operator's hand motion data and generate corresponding control instructions, which are transmitted to the six-axis synchronous robotic arm through a communication link. The six-axis synchronous robotic arm performs corresponding actions according to the received control instructions and feeds back real-time status information to the robotic arm teleoperator through the communication link. The robotic arm teleoperator adjusts the control instructions according to the fed-back real-time status information to realize two-way feedback control.

[0009] Optionally, the structure of the six-axis synchronous robotic arm includes: a motion mechanism, a force sensor and an end manipulator, the motion mechanism controls the movement of the robotic arm through a connecting rod and a joint structure, the force sensor is used for force detection and control of the robotic arm, and the end manipulator has five fingers and independent joints for performing operating tasks.

[0010] Optionally, the motion mechanism of the six-axis synchronous robot arm has six joints that can move independently.

[0011] Optionally, the force sensor includes a joint torque sensor and a six-axis force sensor. The joint torque sensor is installed at the reducer output end of each joint of the robotic arm, and the force condition of the entire robotic arm is obtained by sensing the torque of each joint; the six-axis force sensor is installed on the end manipulator of the robotic arm, and is used to directly obtain the force condition of the actuator and realize the control of the zero point position.

[0012] Optionally, the robot arm teleoperation device realizes control of the six-axis synchronous robot arm through remote control technology, and its main components include wearable somatosensory gloves, a teleoperation first-person perspective camera and a teleoperation system;

[0013] The wearable somatosensory gloves are used to capture the operator's hand motion data. The teleoperation system software generates control instructions based on the hand motion data and transmits them to the six-axis synchronous robotic arm, controls it to perform corresponding actions and receives real-time status information fed back by the robotic arm. The teleoperation system software processes the real-time status information and transmits it to the wearable somatosensory gloves, and feeds back the real-time status information of the robotic arm to the operator; the teleoperation first-person perspective camera is set on the six-axis synchronous robotic arm for real-time monitoring of the execution of the six-axis synchronous robotic arm, and its video screen is transmitted back to the teleoperation system software in real time for the operator to monitor in real time.

[0014] Optionally, the wearable somatosensory glove is equipped with an accelerometer, a gyroscope and a magnetometer for capturing hand motion data and detecting and recording the position, direction and posture changes of the glove in real time;

[0015] The wearable somatosensory gloves are also equipped with tactile sensors, which are distributed on the fingertips and palms of the gloves to feedback the real-time status information of the robotic arm to the operator.

[0016] A second aspect of the present invention is a remote collaboration method for a robotic arm applicable to an inspection robot, based on a remote collaboration system for a robotic arm applicable to an inspection robot described in the first aspect of the present invention, comprising the following steps:

[0017] Capturing operator’s hand motion data;

[0018] Generate corresponding control instructions based on the obtained hand motion data and send them to the robotic arm;

[0019] The robot arm performs corresponding actions according to the received control instructions. At the same time, the sensor senses the status information of the robot arm in real time and provides real-time feedback.

[0020] The control instructions are dynamically adjusted according to the real-time feedback information of the robot arm to achieve collaborative control between the operator and the robot arm.

[0021] Optionally, the method also includes the robotic arm performing actions based on robotic arm intelligent control technology, and the robotic arm intelligent control technology includes visual feature recognition and positioning technology, robotic arm posture control algorithm and active compliant control technology, which is used for target recognition, positioning and automatic completion of specific action tasks.

[0022] Optionally, the method also includes structural reliability design of the six-axis synchronous robot arm, including kinematic analysis, dynamic analysis, simulation and optimization, experimental verification, and integration and debugging.

[0023] Optionally, the method further includes a lightweight design and a safety protection design of the six-axis synchronous robot arm. Compared with the prior art, the beneficial effects of the present invention include:

[0024] (1) The present invention realizes a more intuitive and natural remote operation experience through the coordinated control of the wearable somatosensory gloves and the robotic arm. The operator can control the robotic arm to perform complex tasks in real time through the hand movements and posture changes captured by the gloves, thereby significantly improving the flexibility and efficiency of operations in inspection, maintenance and other applications.

[0025] (2) The present invention ensures high precision and low latency during remote operation by adopting advanced sensor technology, data processing algorithms and control strategies. The optimized design of the remote operation device communication software makes data transmission more stable and efficient, and can ensure smooth operation even under poor network conditions. At the same time, by dynamically adjusting the frame rate and resolution of the audio and video streams, it ensures that the operator can obtain clear visual feedback, further enhancing the immersion and intuitiveness of the operation.

[0026] (3) The control algorithm of the robot arm of the present invention, combined with kinematic modeling and predictive control, enables the robot arm to accurately track the operator's hand movements while ensuring stability and safety during task execution. Through the real-time feedback mechanism, the operator can understand the status of the robot arm in a timely manner and make quick and accurate adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a structural framework diagram of a six-axis synchronous mechanical arm of a mechanical arm remote coordination method suitable for an inspection robot according to the present invention;

[0028] Figure 2 It is a framework diagram of a mechanical arm intelligent control system of a mechanical arm remote collaboration method applicable to an inspection robot of the present invention;

[0029] Figure 3 It is a framework diagram of a mechanical arm teleoperation device applicable to a mechanical arm remote collaboration method of an inspection robot according to the present invention;

[0030] Figure 4 It is a schematic diagram of a six-axis synchronous mechanical arm of a mechanical arm remote coordination method applicable to an inspection robot of the present invention;

[0031] Figure 5 It is a schematic diagram of analyzing a joint torque sensor of a remote collaborative method of a mechanical arm of an inspection robot according to the present invention;

[0032] Figure 6 It is a six-degree-of-freedom robot arm trajectory planning diagram suitable for a robot arm remote collaboration method of an inspection robot according to the present invention;

[0033] Figure 7 It is a schematic diagram of a mechanical arm teleoperation device applicable to a mechanical arm remote collaboration method of an inspection robot according to the present invention;

[0034] Figure 8 The invention discloses a robot arm teleoperation solution diagram suitable for a robot inspection remote collaboration method. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] In Example 1, the present invention provides a robotic arm remote collaboration system suitable for an inspection robot, the system comprising a six-axis synchronous robotic arm, a robotic arm remote operation device and a communication link, the robotic arm remote operation device being used to obtain the operator's hand motion data and generate corresponding control instructions, which are transmitted to the six-axis synchronous robotic arm through the communication link, the six-axis synchronous robotic arm performs corresponding actions according to the received control instructions, and feeds back real-time status information to the robotic arm remote operation device through the communication link, the robotic arm remote operation device dynamically adjusts the control instructions according to the fed-back real-time status information, thereby realizing two-way feedback control.

[0037] In a further preferred but non-limiting embodiment, the six-axis synchronous robotic arm is applied to an inspection robot, has high precision, high speed and strong load capacity, as well as precise positioning and repeatable motion capabilities, and can achieve precise control of complex spatial positions and postures; the structure of the six-axis synchronous robotic arm includes: a motion mechanism, a force sensor and an end manipulator, the motion mechanism controls the movement of the robotic arm through a connecting rod and a joint structure, the force sensor is used for force detection and control of the robotic arm, and the end manipulator has five fingers and independent joints for performing specific operating tasks.

[0038] In a further preferred but non-limiting embodiment, the motion mechanism includes a connecting rod and a joint structure, and the six-axis synchronous robot arm has six joints that can move independently, with a larger operating space and higher flexibility.

[0039] The connecting rod is the skeleton of the robot arm. It is made of aviation aluminum alloy to enhance its strength and durability. At the same time, advanced CNC processing technology is used to achieve the lightweight, high-precision and corrosion-resistant design of the connecting rod. In addition, the connecting rod is heat-treated and surface-coated to improve its hardness and wear resistance. By calculating and analyzing the length, cross-sectional dimensions, and joint angle parameters of the connecting rod, the rigidity and motion transmission accuracy of the connecting rod can be determined, thereby improving the maneuverability of the robot arm.

[0040] The joint is the motion unit of the robot arm, and adopts a large-diameter bearing and a high-rigidity connection method to improve the torsion resistance and load-bearing capacity of the joint. At the same time, the joint is also sealed and lubricated to prevent dust and moisture from invading the inside of the joint;

[0041] In a further preferred but non-limiting embodiment, the force sensor includes a joint torque sensor and a six-axis force sensor. The joint torque sensor is installed at the output end of the reducer of each joint of the robotic arm, and the force condition of the entire robotic arm is obtained by sensing the torque of each joint; the six-axis force sensor is installed on the end manipulator of the robotic arm to directly obtain the force condition of the actuator and realize the control of the zero point position. Specifically,

[0042] The joint torque sensor is installed at the output end of the reducer of each joint of the robotic arm, and the force condition of the entire robotic arm is obtained by sensing the torque of each joint. Since the joint torque sensor is very close to the motor, the influence of the mechanical inertia of the robotic arm is eliminated, the performance of force control is improved, and the force detection and control can cover the entire robotic arm; the dynamic model of the robotic arm is decoupled, which is conducive to dynamics-based position control;

[0043] The six-axis force sensor is installed at the end of the robotic arm, and the control of the robotic arm is achieved by directly sensing the force on the sensor. The force control is achieved through the force control unit at the end, which is simple and direct, easy to install, close to the actuator end, and no other errors are introduced. The force condition of the actuator can be directly obtained, the force measurement accuracy is high, the robotic arm as a whole does not need to be modified, and there is no effect on the stiffness of the robotic arm, and the control of the zero point position can be achieved.

[0044] In a further preferred but non-limiting embodiment, the end manipulator is an important component of the six-axis synchronous robotic arm, which is used to achieve precise grasping and operation of substation equipment. The end manipulator imitates the grasping function of the human palm, has five fingers and independent joints, can adapt to equipment of different shapes and sizes, and through the cooperation of sensors and control systems, can achieve stable grasping and precise operation of the equipment.

[0045] Specifically, the end manipulator design of the robotic arm described in the present invention utilizes robotic gloves and remote operators to control technology in real time through gestures and movements to help cope with complex and dynamic environments and respond to unexpected situations in a timely manner. The remote operation of the robotic arm makes the interaction between man and machine more natural and intuitive through gloves. The operator can more easily control the movement of the robotic arm and perceive the feedback information of the robotic arm. At the same time, the robot can provide very high operational accuracy, allowing the operator to perform tiny, high-precision robotic arm movements.

[0046] In a further preferred but non-limiting embodiment, the robotic arm teleoperation device realizes precise control of the six-axis synchronous robotic arm through remote control technology, and its main components include wearable somatosensory gloves, teleoperation FPV (First Person View) camera and teleoperation system software;

[0047] The wearable somatosensory gloves are used to capture the operator's hand motion data. The remote operation system software generates control instructions based on the hand motion data and transmits them to the six-axis synchronous robotic arm, controls it to perform corresponding actions and receives real-time status information fed back by the robotic arm. The remote operation system software processes the real-time status information and transmits it to the wearable somatosensory gloves, and feeds back the real-time status information of the robotic arm to the operator; the remote operation FPV camera is set on the six-axis synchronous robotic arm for real-time monitoring of the execution of the six-axis synchronous robotic arm, and its video screen is transmitted back to the remote operation system software in real time for the operator to monitor in real time.

[0048] For example, in an inspection environment, unmanned vehicles need to perform complex actions such as opening and closing the door of an electrical control box, which requires the support of a remote control device. The design of a robotic arm remote control device provides the operator with an immersive operating experience through advanced sensors, thereby improving the efficiency of inspection operations.

[0049] In a further preferred but non-limiting embodiment, the wearable somatosensory glove is equipped with an accelerometer, a gyroscope and a magnetometer for capturing hand motion data and detecting and recording the position, direction and posture changes of the glove in real time;

[0050] The wearable somatosensory gloves are equipped with tactile sensors distributed on the fingertips and palms of the gloves to feed back the real-time status information of the robotic arm to the operator.

[0051] Specifically, by capturing the operator's hand movements and postures and transmitting the signals to the remote operation system software in real time, the operating efficiency of the somatosensory gloves can be further improved. It is planned to distribute tactile sensors on the fingertips and palms of the gloves. The tactile sensors can detect the contact information between the gloves and the operated objects, including pressure and texture. The received signals are processed by software, the raw data are smoothed by digital filters, and the position, speed, and acceleration data are extracted to provide input for subsequent control algorithms. The data from different sensors are fused through the linear complementary filtering algorithm to improve data accuracy and stability, so as to optimize the collection of glove data. At the same time, high-pass and low-pass filters are used for real-time processing of the glove posture for different sensors to improve data accuracy and robustness. In addition, by real-time processing of feedback information from the robotic arm, including position and speed, and feeding back to the operator through the vibration or tactile feedback of the gloves, the sense of immersion is enhanced.

[0052] Specifically, wearable somatosensory gloves can be used to realize remote coordinated operation of robotic arms. Light, soft and durable materials are selected to make the gloves to ensure that they are comfortable to wear and do not affect the normal movement of the hands. At the same time, the weight of the structure is reduced. Accelerometers, gyroscopes and magnetometers are installed to capture hand motion data, detect and record the position, direction and posture changes of the gloves in real time, which can help the operator better understand the status and position of the operated object.

[0053] For example, the wearable somatosensory gloves are used as synchronous gloves for the operator to control the robotic arm to perform actions. They can capture the operator's hand movements and convert them into corresponding instructions for the robot. Sensors and precision electronic devices are integrated inside the synchronous gloves, which can detect data such as the curvature of the fingers and the posture of the palm in real time. After processing, these data are converted into commands that the robot can understand, thereby realizing natural interaction between the operator and the robot. At the same time, the synchronous gloves also have wireless transmission functions, allowing the operator to move freely within a certain range and accurately control the robot.

[0054] In a further preferred but non-limiting embodiment, the FPV camera transmits a real-time image of the robotic arm from a first-person perspective, so that the operator can grasp the operation progress more intuitively.

[0055] In a further preferred but non-limiting embodiment, the communication link is used for data transmission. At the same time, efficient data compression and transmission optimization technology, as well as advanced encryption and secure transmission protocols are adopted to ensure the real-time and stability of data transmission, and the accuracy and security of operations.

[0056] In a further preferred but non-limiting embodiment, the communication link further includes adjusting the frequency of data transmission in real time according to the network conditions, increasing the transmission frequency when the network conditions are good, and reducing the transmission frequency when the network conditions are poor;

[0057] Specifically, the communication link adjusts the frequency of data transmission in real time according to the network conditions to reduce the impact of the FPV camera's video stream return delay;

[0058] The efficient data stream transmission method RTP (Real-time Transport Protocol) is used to transmit the somatosensory glove data to the robotic arm to ensure the effectiveness and real-time transmission of remote operation data. At the same time, the camera data is transmitted back to the remote operation software in real time for real-time monitoring and operation. At the same time, when the robotic arm performs an action, it will generate corresponding control instructions according to the preset control algorithm to realize remote operation. At the same time, the frame rate and resolution of the audio and video streams are dynamically adjusted according to the network status and operation requirements to balance the real-time requirements.

[0059] In Example 2, the present invention provides a remote collaboration method for a robotic arm applicable to an inspection robot, based on a remote collaboration system for a robotic arm applicable to an inspection robot described in Example 1, comprising the following steps:

[0060] Step 1, capturing the operator's hand motion data;

[0061] Step 2, generating corresponding control instructions according to the hand motion data obtained in step 1 and sending them to the robotic arm;

[0062] Step 3: The robot arm performs corresponding actions according to the received control instructions. At the same time, the robot arm status information is sensed in real time through sensors and real-time feedback is provided.

[0063] Step 4: Dynamically adjust the control instructions according to the real-time feedback information of the robot arm to achieve collaborative control between the operator and the robot arm.

[0064] In a further preferred but non-limiting embodiment, step 3 also includes the robotic arm performing actions based on robotic arm intelligent control technology, and the robotic arm intelligent control technology includes visual feature recognition and positioning technology, robotic arm posture control algorithm and active compliance control technology to achieve target recognition, positioning and automatic completion of specific action tasks, while having high flexibility and accuracy, so that the robotic arm can autonomously complete tasks in complex environments.

[0065] In a further preferred but non-limiting embodiment, the visual feature recognition and positioning technology uses computer vision and image processing technology, and the system can quickly and accurately identify the target object and determine its position and posture in space, specifically including image acquisition, feature recognition, task target positioning and robot end positioning, matching steps, and has the characteristics of high efficiency and strong robustness; specifically, in the visual feature recognition and positioning technology described in the present invention, the implementation of the positioning algorithm involves multiple steps. First, it is necessary to determine the target position and posture, which are obtained in real time through preset coordinates and sensors; then, it is necessary to calculate the joint angles so that the robot arm reaches the target position and posture; the process of calculating the joint angles involves inverse kinematics solution, that is, given the target position and posture, the angles of each joint are inferred; in addition, in order to improve positioning accuracy and stability, error analysis and compensation are required, and the control parameters are adjusted by dynamic adjustment methods,

[0066] The technology of obtaining the current position and target position of the robot arm through images involves the fields of computer vision and image processing. First, it is necessary to use devices such as cameras or sensors to obtain images of the robot arm and its surroundings; then, the image is analyzed and recognized through image processing algorithms to extract the position and posture information of the robot arm.

[0067] The specific implementation steps are as follows:

[0068] S1, image acquisition: using devices such as cameras or sensors to obtain images of the robotic arm and its surroundings;

[0069] S2, image preprocessing: preprocess the image, including noise reduction, enhancement, deblurring and other operations to improve image quality and recognition accuracy;

[0070] S3, feature extraction: extract corresponding features from the preprocessed image according to the characteristics of the robot arm and recognition requirements;

[0071] S4, target detection and recognition: Use feature matching, machine learning or deep learning technologies to detect and identify the robotic arm and obtain its position and posture information;

[0072] S5, position and posture calculation: According to the detection and recognition results, combined with the camera parameters and the kinematic model of the robot arm, the current position and posture of the robot arm are calculated;

[0073] S6, control and adjustment: Feedback the calculated position and posture information to the control system to accurately control and adjust the robot arm.

[0074] The technology for obtaining the current position and target position of the robot arm through images requires computer vision and image processing technology, including image processing algorithms, feature extraction methods, target detection and recognition technology. At the same time, the algorithm needs to be optimized and adjusted according to the specific robot arm model and application scenario.

[0075] In a further preferred but non-limiting embodiment, the robot arm posture control algorithm calculates the precise motion trajectory that the robot arm needs to execute based on the current position, target position and current posture information, as well as the preset task requirements, solves the posture of each joint of the robot arm, and then controls the robot arm motion controller to drive the robot arm to achieve the action; specifically,

[0076] In the robot arm posture control algorithm described in the present invention, in addition to the calculation of joint angles, the implementation of the robot arm positioning algorithm needs to consider path planning and obstacle avoidance problems. Path planning aims to find an optimal and feasible path so that the robot arm moves from the starting position to the target position. Obstacle avoidance is to avoid surrounding obstacles when planning the path. Commonly used path planning methods include rule-based methods, graphics-based methods and learning-based algorithms. In addition, combined with the dynamic characteristics and torque changes during the movement of the robot arm, the movement state of the robot arm can be more accurately controlled.

[0077] The control algorithm of the robotic arm itself is the core of realizing the coordinated control of the glove and the robotic arm. It can generate control instructions in real time according to the hand motion information and the robotic arm status information, and drive the robotic arm to perform corresponding actions, including inverse kinematics algorithm based on kinematics and forward and reverse kinematics algorithm based on dynamics. By designing different control algorithms in different posture loops, the performance of coordinated control can be guaranteed.

[0078] In a further preferred but non-limiting embodiment, the active compliance control technology can effectively protect the robot arm and surrounding equipment during the progressive movement of the robot arm to the target position, avoiding rigid collision between the robot arm and the equipment, and the end actuator of the robot arm can more effectively guarantee its flexible predetermined action after reaching the target point. Specifically, the active compliance control technology of the robot arm described in the present invention is mainly implemented through impedance control, which is a control method based on the dynamic relationship between force and position. By adjusting the impedance parameters of the system, the robot arm can show different compliance characteristics. In active compliance control, it is necessary to calculate the desired impedance parameters in real time based on the information fed back by the sensor, and adjust the motion trajectory of the robot arm to approximate the desired compliant motion. The specific implementation steps are as follows:

[0079] SS1, model building: First, the dynamic model of the robot arm needs to be established, including the kinematic and dynamic characteristics of the joint servo system, connecting rod and end effector;

[0080] SS2, controller design: Based on the established model, a controller is designed to adjust the impedance parameters of the robot arm. Commonly used controllers include PID controller, fuzzy controller and neural network controller;

[0081] SS3, feedback control: The interaction force between the robot arm and the environment is detected in real time through sensors, and the force signal is fed back to the controller. The controller calculates the position error gain of the joint servo system based on the feedback force signal and the expected compliant motion trajectory, and adjusts the motion trajectory of the robot arm;

[0082] SS4, iterative optimization: In practical applications, it is necessary to continuously iteratively optimize the controller parameters to improve the compliance of the robot arm. The compliance performance of the robot arm is evaluated through experiments or simulations, and the controller parameters are adjusted according to the evaluation results.

[0083] In addition to impedance control, other methods can be used to achieve active compliant control of the robot arm, including neural network-based adaptive control and learning-based control, so that they can be selected according to different application scenarios and needs. At the same time, achieving active compliant control of the robot arm requires comprehensive consideration of the dynamic model, controller design, feedback control and parameter optimization technology.

[0084] In a further preferred but non-limiting embodiment, the method further includes a structural reliability design of a six-axis synchronous robot arm, which is implemented by kinematic analysis, dynamic analysis, simulation and optimization, experimental verification, integration and debugging, specifically including:

[0085] The kinematic analysis described in the present invention is the basis for evaluating the reliability of the robot arm. By analyzing the kinematics of the six-axis synchronous robot arm, its workspace, reachable posture and joint limits can be determined. By optimizing the kinematics, the singular configuration can be reduced and the operation accuracy can be improved, thereby improving the reliability of the robot arm in practical applications. In addition, through inverse kinematics solution, the position and posture of the end effector of the robot arm can be accurately controlled, further enhancing the stability and reliability of its operation.

[0086] The dynamic analysis is the key to studying the response and performance of the robot under force. By establishing an accurate dynamic model of the six-axis synchronous robot, its dynamic characteristics under different operating conditions can be analyzed, which helps to identify potential vibration, instability and overload problems and provide effective solutions, thereby improving the reliability of the robot in practical applications.

[0087] The use of advanced simulation technology allows comprehensive testing and optimization of the six-axis synchronous robot arm before actual application. By simulating various operating environments and conditions, the robot arm's performance can be evaluated, potential problems can be predicted, and its design can be optimized. This not only saves time and cost, but also detects and solves potential problems at an early stage, significantly improving the reliability of the robot arm.

[0088] Before the actual application of the six-axis synchronous robot arm, comprehensive integration and debugging are required, including hardware and software integration, control system calibration, and various functional and performance tests. Through strict integration and debugging, it can be ensured that all parts of the robot arm work normally and in coordination, and achieve the expected performance indicators.

[0089] In a further preferred but non-limiting embodiment, the method further includes a lightweight design and a safety protection design of the six-axis synchronous robot arm, specifically:

[0090] In order to reduce the weight and power consumption of the robot arm, a lightweight design concept was adopted. Under the premise of ensuring the strength and rigidity of the robot arm, the weight of each component of the robot arm was reduced as much as possible. At the same time, new materials and advanced manufacturing processes were used to further reduce the weight of the robot arm. In addition, the robot arm was optimized to make its center of gravity more stable, thereby improving the movement stability and positioning accuracy of the robot arm.

[0091] Safety protection is an indispensable part of the design of the robotic arm. In order to ensure the safety of the operator and prevent the robotic arm from causing damage to the surrounding environment during operation, multiple safety protection measures are adopted, including: the use of sensors and control systems to ensure that the robotic arm does not pose a threat to people and objects around it during operation; the joints and connecting rods of the robotic arm are designed with limits to prevent the robotic arm from exceeding its working range in unexpected situations; the power supply and control system of the robotic arm are designed with safety protection to prevent accidents.

[0092] In a further preferred but non-limiting embodiment, the method also includes sensor data processing, which is the basis for realizing collaborative control. The gloves and the robotic arm need to be equipped with corresponding sensors. For the robotic arm itself, force and position feedback is required to sense the force and position sensing from the gloves in real time. In addition, data fusion and calibration are required to unify the data of different sensors into a coordinate system to provide an accurate data basis for subsequent collaborative control. Kinematic modeling is a key link in realizing precise control of the somatosensory glove robotic arm. Kinematic modeling is to establish the data relationship between the position and posture of the end effector of the robotic arm (such as a gripper) and the hand motion data based on the known structure and joint parameters of the robotic arm. In order to understand the kinematic relationship, factors such as the connecting rod length, joint angle and geometric constraints of the robot arm need to be considered. Through the kinematic inverse solution, forward solution and optimization algorithm, the joint angle change of the robot arm is calculated to achieve accurate position and posture control. Predictive control also needs to be introduced in the somatosensory glove remote control robot arm to ensure that the slave robot arm moves within the given constraint range and improve the master-slave position tracking accuracy and the slave information feedback accuracy. Using the measurement signal, delay information and the mathematical model of the robot arm, a prediction algorithm is designed to obtain the predicted value of the real state (joint position and speed) of the remote robot arm. Based on the obtained prediction results, a bilateral controller of the teleoperation system is designed to improve the master-slave position tracking accuracy and the slave information feedback accuracy. Finally, according to the original instructions issued by the master, the feedback signal and the mathematical model of the slave, it is judged whether the current instruction can make the movement of the slave robot arm meet the constraints.

[0093] Embodiment 3: This embodiment exemplarily provides a remote collaboration method for a robotic arm applicable to an inspection robot, and the specific steps are as follows:

[0094] The operator wears a somatosensory glove and starts the teleoperation device of the robot arm through the teleoperation software; the wearable somatosensory glove captures the operator's hand motion data and transmits this data to the teleoperation system software in real time; after receiving the hand motion data, the teleoperation system software calculates the position and posture change of the end effector of the robot arm through the kinematic modeling algorithm; based on the calculation results, the corresponding control instructions are generated and sent to the robot arm through the communication link; after receiving the control instructions, the robot arm performs the corresponding actions and senses the state information of the robot arm in real time through the force feedback sensor; the state information of the robot arm is transmitted back to the teleoperation system software through the communication link to realize two-way feedback control; during the execution of the action, the teleoperation system software dynamically adjusts the control instructions according to the real-time feedback information to ensure the accuracy and stability of the robot arm's action; at the same time, the communication software of the teleoperation device adopts efficient data compression and transmission optimization technology to ensure the real-time and stability of data transmission; through the real-time return video stream of the FPV camera, the operator can monitor the execution of the robot arm in real time and make adjustments as needed; during the entire operation process, the predictive control algorithm ensures that the robot arm moves within the given constraint range and improves the master-slave position tracking accuracy and the slave end information feedback accuracy.

[0095] Furthermore, the present invention also includes a robot arm teleoperation solution method applicable to a robot arm remote collaboration method for an inspection robot, such as Figure 8 As shown in the figure, comprehensive guidance and support are provided for the precise operation of the robotic arm through detailed travel space division, in-depth spatial analysis, precise teleoperation technology, flexible end-point posture adjustment mapping, and diversified scaling and factor mapping technologies.

[0096] Through the above steps, this embodiment provides a remote collaboration method for a robot arm suitable for an inspection robot, which can achieve accurate, efficient and safe collaborative control between the operator and the robot arm. This method not only improves the efficiency of the inspection operation, but also ensures the safety and reliability of the operation. In addition, by continuously optimizing the control algorithm and sensor data processing technology, the compliance performance and operation accuracy of the robot arm can be further improved to meet the needs of more complex application scenarios.

[0097] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote collaborative system for a robotic arm of an inspection robot, characterized in that: include: A six-axis synchronous robotic arm, a robotic arm teleoperator and a communication link. The six-axis synchronous robotic arm is applied to an inspection robot. The robotic arm teleoperator is used to obtain the operator's hand motion data and generate corresponding control instructions, which are transmitted to the six-axis synchronous robotic arm through a communication link. The six-axis synchronous robotic arm performs corresponding actions according to the received control instructions and feeds back real-time status information to the robotic arm teleoperator through the communication link. The robotic arm teleoperator adjusts the control instructions according to the fed-back real-time status information to realize two-way feedback control.

2. The remote collaborative system of a robotic arm suitable for an inspection robot according to claim 1, characterized in that: The structure of the six-axis synchronous robotic arm includes: a motion mechanism, a force sensor and an end manipulator. The motion mechanism controls the movement of the robotic arm through a connecting rod and a joint structure. The force sensor is used for force detection and control of the robotic arm. The end manipulator has five fingers and independent joints for performing operation tasks.

3. The remote collaborative system of a robotic arm suitable for an inspection robot according to claim 2, characterized in that: The motion mechanism of the six-axis synchronous robot arm has six joints that can move independently.

4. The remote collaborative system of a robotic arm suitable for an inspection robot according to claim 2, characterized in that: The force sensor includes a joint torque sensor and a six-axis force sensor. The joint torque sensor is installed at the reducer output end of each joint of the robotic arm, and the force condition of the entire robotic arm is obtained by sensing the torque of each joint; the six-axis force sensor is installed on the end manipulator of the robotic arm, and is used to directly obtain the force condition of the actuator and realize the control of the zero point position.

5. The remote collaborative system of a robotic arm suitable for an inspection robot according to claim 1, characterized in that: The robot arm teleoperation device realizes the control of the six-axis synchronous robot arm through remote control technology, and its main components include wearable somatosensory gloves, a teleoperation first-person perspective camera and a teleoperation system; The wearable somatosensory gloves are used to capture the operator's hand motion data. The teleoperation system software generates control instructions based on the hand motion data and transmits them to the six-axis synchronous robotic arm, controls it to perform corresponding actions and receives real-time status information fed back by the robotic arm. The teleoperation system software processes the real-time status information and transmits it to the wearable somatosensory gloves, and feeds back the real-time status information of the robotic arm to the operator; the teleoperation first-person perspective camera is set on the six-axis synchronous robotic arm for real-time monitoring of the execution of the six-axis synchronous robotic arm, and its video screen is transmitted back to the teleoperation system software in real time for the operator to monitor in real time.

6. The remote collaborative system of a robotic arm suitable for an inspection robot according to claim 5, characterized in that: The wearable somatosensory glove is equipped with an accelerometer, a gyroscope and a magnetometer to capture hand movement data and detect and record the position, direction and posture changes of the glove in real time; The wearable somatosensory gloves are also equipped with tactile sensors, which are distributed on the fingertips and palms of the gloves to feedback the real-time status information of the robotic arm to the operator.

7. A remote collaboration method for a robot arm of an inspection robot, based on a remote collaboration system for a robot arm of an inspection robot according to any one of claims 1 to 6, characterized in that: The steps include: Capturing operator’s hand motion data; Generate corresponding control instructions based on the obtained hand motion data and send them to the robotic arm; The robot arm performs corresponding actions according to the received control instructions. At the same time, the sensor senses the status information of the robot arm in real time and provides real-time feedback. The control instructions are dynamically adjusted according to the real-time feedback information of the robot arm to achieve collaborative control between the operator and the robot arm.

8. The remote coordination method of a robot arm suitable for an inspection robot according to claim 7, characterized in that: The method also includes the robotic arm performing actions based on the robotic arm intelligent control technology, wherein the robotic arm intelligent control technology includes visual feature recognition and positioning technology, a robotic arm posture control algorithm, and active compliance control technology, which are used for target recognition, positioning, and automatic completion of specific action tasks.

9. The remote coordination method of a robot arm suitable for an inspection robot according to claim 7, characterized in that: The method also includes the structural reliability design of the six-axis synchronous robot arm, including kinematic analysis, dynamic analysis, simulation and optimization, experimental verification, and integration and debugging.

10. The remote coordination method of a robot arm suitable for an inspection robot according to claim 7, characterized in that: The method also includes a lightweight design and a safety protection design for the six-axis synchronous robot arm.

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