Mechanical arm teleoperation system adaptive to quadruped robot and control method

Abstract

The invention provides a mechanical arm teleoperation system adaptive to a quadruped robot and a control method, and relates to the technical field of robot control. According to the method, firstly, a far-end main mechanical arm is introduced on the basis of a mechanical arm of the quadruped robot to form a main-end mechanical arm system and a slave-end mechanical arm system, and a remote operator remotely maps an action instruction to the slave-end mechanical arm system by controlling the main-end mechanical arm; then, a clamping jaw module with an image and tail end contact force sensor is installed at the tail end of the slave end mechanical arm, and image data collection and tail end contact force collection on a working site are achieved; secondly, the image information and the tail end contact force are remotely transmitted to a remote operator in real time through a wireless transmission module and a remote man-machine interaction module; and finally, a remote operator controls the main end mechanical arm in real time according to the real-time image information and the tail end contact force, remote operation of the quadruped robot mounting mechanical arm in a complex scene is achieved, and the operation efficiency and the operation precision are improved.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a robotic arm teleoperation system and control method adapted for quadruped robots. Background Technology

[0002] When quadruped robots are remotely operated with robotic arms, they often face complex work environments, making fully autonomous operation by the robot challenging. Therefore, remote operators need to react to the environment and robot performance, and remotely operate the robotic arm mounted on the quadruped robot to carry out tasks, effectively meeting the high-precision task requirements of robotic arm operation in complex environments.

[0003] Therefore, to carry out remote operation of quadruped robot arms, it is urgent to develop a remote teleoperation system that can respond to the remote on-site working environment and dynamically control the robot's operating parameters. Summary of the Invention

[0004] To address the problems in the prior art, this invention provides a teleoperation system and control method for a robotic arm adapted for quadruped robots. This invention first introduces a remote master robotic arm into the quadruped robot's robotic arm, forming a master-slave robotic arm system. A remote operator controls the master robotic arm to remotely map motion commands to the slave robotic arm system. Then, a gripper module with image and end-effector contact force sensors is installed at the end of the slave robotic arm, enabling the acquisition of image data and end-effector contact force at the work site. Next, the image information and end-effector contact force are transmitted remotely to the remote operator in real time via a wireless transmission module and a remote human-machine interface module. Finally, the remote operator controls the master robotic arm in real time based on the real-time image information and end-effector contact force, realizing remote operation of a quadruped robot with a robotic arm in complex scenarios, improving work efficiency and accuracy. The technical solution is as follows:

[0005] On one hand, the present invention provides a robotic arm teleoperation system adapted to a quadruped robot, the system comprising: The quadruped robot module receives motion control commands from the remote human-machine interaction module via the wireless data transmission module and moves to the designated position. The slave robotic arm module receives attitude control commands from the remote human-machine interaction module via a wireless data transmission module, and controls the end effector of the slave robotic arm module to move to the desired position. The end effector gripper module is used to collect remote image information and end contact force data, and receive gripping instructions from the remote human-machine interaction module through the wireless data transmission module to complete the gripping action; The wireless image transmission module is used to transmit the remote image information to the remote human-computer interaction module; The wireless data transmission module is used to wirelessly transmit the motion control command, the motion mapping command of the remote master robotic arm module, the posture control command, the gripping command, the end contact force data, and the posture data of the slave robotic arm module and the end gripper module. This remote human-machine interaction module is used to realize the interactive control between the remote operator and the robotic arm's teleoperation system; The remote master robotic arm module is used by remote operators to perform manual operations and output the action mapping command to the remote human-machine interaction module.

[0006] Optionally, the slave-end robotic arm module is mounted on the upper end of the slave-end quadruped robot module.

[0007] Optionally, the end effector module is mounted at the end of the slave robotic arm module.

[0008] Optionally, a vision sensor is installed on the end effector module to acquire the remote image information and transmit it to the remote human-machine interaction module via the wireless image transmission module; a force sensor is installed on the end effector module to acquire the end contact force data and transmit it to the remote human-machine interaction module via the wireless data transmission module.

[0009] Optionally, the interaction process of the remote human-computer interaction module includes: The system receives the motion control command input by the remote operator and transmits the motion control command to the slave quadruped robot module through the wireless data transmission module. The system receives the gripping command input by the remote operator and transmits the gripping command to the end effector module via the wireless data transmission module. Receive the motion mapping instruction output by the remote master robotic arm module, and calculate and output the attitude control instruction of the slave robotic arm module according to the motion mapping instruction through the teleoperation control model. Receive the remote image information transmitted by the wireless image transmission module and display the remote image information in real time; The system receives the end contact force data transmitted by the wireless data transmission module, and converts the end contact force data into a force control quantity for the remote master robotic arm module through a mapping algorithm, and feeds it back to the remote master robotic arm module. The system receives the attitude data of the slave robotic arm module and the end effector gripper module transmitted by the wireless data transmission module and displays it in animation.

[0010] Optionally, the remote master robotic arm module converts the force control quantity output by the remote human-machine interaction module into a force at the end of the master robotic arm module and applies it to the remote operator to complete the real-time feedback of the end contact force data of the slave robotic arm.

[0011] On the other hand, the present invention provides a teleoperation control method for a robotic arm adapted to a quadruped robot. This method is implemented by a robotic arm teleoperation system adapted to a quadruped robot, and includes: S1. Start the robotic arm teleoperation system adapted to the quadruped robot. The robotic arm teleoperation system has completed initialization. S2. After initialization, the end gripper module on the end robotic arm module collects remote image information in real time and transmits it to the remote human-machine interaction module through the wireless image transmission module, so that the remote operator can obtain real-time remote image information. S3. Based on the remote image information, the remote operator issues a target position command through the remote human-machine interaction module, controlling the end-effector quadruped robot module to move to the target position and then remain stationary. S4. Control the main robotic arm module to move according to the remote image information, and the main robotic arm module outputs motion mapping instructions to the remote human-machine interaction module. S5. The remote human-machine interaction module outputs posture control commands according to the motion mapping command through the remote operation control model, and transmits them to the slave robotic arm module through the wireless data transmission module, so that the robot can move to the designated position. S6. Based on the remote image information, the remote operator issues a gripping command for the object to be grabbed through the remote human-machine interaction module. S7. The remote human-machine interaction module transmits the gripping command to the end gripper module via the wireless data transmission module to realize the gripping action. S8. The end gripper module collects end contact force data in real time and transmits the end contact force data to the remote human-machine interaction module through the wireless data transmission module. S9. The remote human-machine interaction module displays the end contact force data in real time and converts it into force control quantity for the main robotic arm module. S10. The remote master robotic arm module converts the force control quantity into a force at the end of the master robotic arm module and applies it to the remote operator, thereby realizing real-time feedback of the end contact force of the slave robotic arm module during remote operation and gripping.

[0012] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects: On the one hand, the vision module can acquire real-time information about remote operations at the operating end and respond accordingly to complex remote environments, enabling remote operation control in complex working conditions. On the other hand, the force sensor can acquire the force state of the robotic arm attached to the remote robot and map it to the remote-controlled master robotic arm at the control end in real time, thereby enabling force-interactive operation during the gripper's grasping process. Thirdly, the vision and force sensors installed at the end of the robotic arm improve the multimodal environment perception capability and operational efficiency of the quadruped robot's gripping operation. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a system block diagram of an embodiment of the robotic arm teleoperation system adapted to a quadruped robot of the present invention; Figure 2 This is a flowchart of an embodiment of the teleoperation control method for a robotic arm adapted to a quadruped robot according to the present invention. Detailed Implementation

[0015] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0016] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0017] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0018] like Figure 1 The system block diagram shown is an embodiment of the robotic arm teleoperation system adapted to quadruped robots of the present invention. Specifically, the system includes: The quadruped robot module receives motion control commands from the remote human-machine interaction module via the wireless data transmission module and moves to the designated position. The slave robotic arm module receives attitude control commands from the remote human-machine interaction module via a wireless data transmission module, and controls the end effector of the slave robotic arm module to move to the desired position. The end effector gripper module is used to collect remote image information and end contact force data, and receive gripping instructions from the remote human-machine interaction module through the wireless data transmission module to complete the gripping action; The wireless image transmission module is used to transmit the remote image information to the remote human-computer interaction module; The wireless data transmission module is used to wirelessly transmit the motion control command, the motion mapping command of the remote master robotic arm module, the posture control command, the gripping command, the end contact force data, and the posture data of the slave robotic arm module and the end gripper module. This remote human-machine interaction module is used to realize the interactive control between the remote operator and the robotic arm's teleoperation system; The remote master robotic arm module is used by remote operators to perform manual operations and output the action mapping command to the remote human-machine interaction module.

[0019] Specifically, the slave-end quadruped robot module is mounted on the upper end of the slave-end quadruped robot module.

[0020] Specifically, the end gripper module is installed at the end of the slave robotic arm module.

[0021] Specifically, a vision sensor is installed on the end effector module to collect remote image information and transmit it to the remote human-machine interaction module via the wireless image transmission module; a force sensor is installed on the end effector module to collect end contact force data and transmit it to the remote human-machine interaction module via the wireless data transmission module.

[0022] Specifically, the interaction process of this remote human-computer interaction module includes: The system receives the motion control command input by the remote operator and transmits the motion control command to the slave quadruped robot module through the wireless data transmission module. The system receives the gripping command input by the remote operator and transmits the gripping command to the end effector module via the wireless data transmission module. Receive the motion mapping instruction output by the remote master robotic arm module, and calculate and output the attitude control instruction of the slave robotic arm module according to the motion mapping instruction through the teleoperation control model. The system receives the remote image information transmitted by the wireless image transmission module and displays the remote image information in real time, so that the remote operator can grasp the remote real-time environmental information. The system receives the end contact force data transmitted by the wireless data transmission module, and converts the end contact force data into a force control quantity for the remote master robotic arm module through a mapping algorithm, and feeds it back to the remote master robotic arm module. The system receives the attitude data of the slave robotic arm module and the end effector module transmitted by the wireless data transmission module and displays it in animation, so that the remote operator can grasp the real-time attitude of the slave robotic arm module and the end effector module.

[0023] Furthermore, the remote master robotic arm module converts the force control quantity output by the remote human-machine interaction module into a force at the end of the master robotic arm module and applies it to the remote operator, thereby completing real-time feedback of the end contact force data of the slave robotic arm.

[0024] like Figure 2 The flowchart shown is an embodiment of the teleoperation control method for a robotic arm adapted to a quadruped robot according to the present invention. The present invention provides a teleoperation control method for a robotic arm adapted to a quadruped robot, which is implemented by a robotic arm teleoperation system adapted to a quadruped robot. The method includes: S1. Start the robotic arm teleoperation system adapted to the quadruped robot. The robotic arm teleoperation system has completed initialization. S2. After initialization, the end gripper module on the end robotic arm module collects remote image information in real time and transmits it to the remote human-machine interaction module through the wireless image transmission module, so that the remote operator can obtain real-time remote image information. S3. Based on the remote image information, the remote operator issues a target position command through the remote human-machine interaction module, controlling the end-effector quadruped robot module to move to the target position and then remain stationary. S4. Control the main robotic arm module to move according to the remote image information, and the main robotic arm module outputs motion mapping instructions to the remote human-machine interaction module. S5. The remote human-machine interaction module outputs posture control commands according to the motion mapping command through the remote operation control model, and transmits them to the slave robotic arm module through the wireless data transmission module, so that the robot can move to the designated position. S6. Based on the remote image information, the remote operator issues a gripping command for the object to be grabbed through the remote human-machine interaction module. S7. The remote human-machine interaction module transmits the gripping command to the end gripper module via the wireless data transmission module to realize the gripping action. S8. The end gripper module collects end contact force data in real time and transmits the end contact force data to the remote human-machine interaction module through the wireless data transmission module. S9. The remote human-machine interaction module displays the end contact force data in real time and converts it into force control quantity for the main robotic arm module. S10. The remote master robotic arm module converts the force control quantity into a force at the end of the master robotic arm module and applies it to the remote operator, thereby realizing real-time feedback of the end contact force of the slave robotic arm module during remote operation and gripping.

[0025] Specifically, the remote operating system adapted for the quadruped robot is activated. After successful system startup, the remote operator obtains relevant visual and LiDAR information of the quadruped robot through the remote human-machine interface module, and manually remotely controls the slave quadruped robot module to reach the designated position. The slave quadruped robot module maintains its initial position and remains stationary after reaching the commanded position. After the slave quadruped robot module reaches the designated position, the remote operator outputs attitude control commands through the master robotic arm module via the remote operation control model, which are transmitted to the slave robotic arm module via the wireless data transmission module. The remote human-machine interface module provides real-time feedback on the end-effector visual and contact force information of the slave robotic arm module. Simultaneously, the master robotic arm module performs feedback control based on the feedback contact force. The remote operation control algorithm of the remote human-machine interface module is responsible for demapping the robotic arm control quantities of the master and slave robotic arm modules to ensure that the end-effector of the slave robotic arm module reaches the designated position. Among them, the end-effector visual sensor of the slave robotic arm module acquires two-dimensional images and depth information in real time, and the force sensor acquires six-dimensional contact force information between the end-effector and the environment in real time. , These represent the real-time position of the end effector module at the end of the robotic arm. The contact force and contact torque experienced in the direction. After the end of the robotic arm module reaches the designated position, it remains stationary at the end point. The remote operator controls the opening and closing, gripping, and other related control operations of the gripper of the robotic arm module through the remote human-machine interaction module.

[0026] This invention provides a teleoperation system and control method for a robotic arm adapted for quadruped robots. Firstly, a remote master robotic arm is introduced into the quadruped robot's robotic arm, forming a master-slave robotic arm system. A remote operator controls the master robotic arm to remotely map motion commands to the slave robotic arm system. Then, a gripper module with image and end-effector contact force sensors is installed at the end of the slave robotic arm, enabling the acquisition of image data and end-effector contact force at the work site. Next, the image information and end-effector contact force are transmitted remotely to the remote operator in real time via a wireless transmission module and a remote human-machine interface module. Finally, the remote operator controls the master robotic arm in real time based on the real-time image information and end-effector contact force, realizing remote operation of the quadruped robot with a robotic arm in complex scenarios, improving work efficiency and accuracy.

[0027] It is understood that the present invention has been described through the above embodiments and should not be construed as limiting the implementation and scope of the present invention. Those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A mechanical arm teleoperation system for adapting a quadruped robot, characterized by, The system comprises: The slave end quadruped robot module receives the motion control instruction of the remote human-computer interaction module through the wireless data transmission module, and moves to the specified position; The slave end mechanical arm module receives the posture control instruction of the remote human-computer interaction module through the wireless data transmission module, controls the end of the slave end mechanical arm module to move to the desired position; The end gripper module is used for collecting remote image information and end contact force data, and receiving the gripping instruction of the remote human-computer interaction module through the wireless data transmission module to complete the gripping action; The wireless image transmission module is used for transmitting the remote image information to the remote human-computer interaction module; The wireless data transmission module is used for realizing wireless transmission of the motion control instruction, the action mapping instruction of the remote master end mechanical arm module, the posture control instruction, the gripping instruction, the end contact force data, and the posture data of the slave end mechanical arm module and the end gripper module; The remote human-computer interaction module is used for realizing the interactive control of the remote operator and the mechanical arm remote operation system; The remote master end mechanical arm module is used for manual operation of the remote operator, and outputs the action mapping instruction to the remote human-computer interaction module.

2. The teleoperation system of claim 1, wherein the quadruped robot is a quadruped robot. The slave end mechanical arm module is installed on the upper end of the slave end quadruped robot module.

3. The manipulator system for teleoperation of a quadruped robot according to claim 1, wherein The end gripper module is installed on the end of the slave end mechanical arm module.

4. The manipulator system for teleoperation of a quadruped robot according to claim 1, wherein A visual sensor is installed on the end gripper module, which is used for collecting the remote image information and transmitting the remote image information to the remote human-computer interaction module through the wireless image transmission module; a force sensor is installed on the end gripper module, which is used for collecting the end contact force data and transmitting the end contact force data to the remote human-computer interaction module through the wireless data transmission module.

5. The teleoperation system of claim 1, wherein the quadruped robot is adapted to perform a task in a dynamic environment. The interactive process of the remote human-computer interaction module comprises: Receiving the motion control instruction input by the remote operator, and transmitting the motion control instruction to the slave end quadruped robot module through the wireless data transmission module; Receiving the gripping instruction input by the remote operator, and transmitting the gripping instruction to the end gripper module through the wireless data transmission module; Receiving the action mapping instruction output by the remote master end mechanical arm module, and calculating the posture control instruction of the slave end mechanical arm module according to the action mapping instruction through the remote operation control model; Receiving the remote image information transmitted by the wireless image transmission module, and displaying the remote image information in real time; Receiving the end contact force data transmitted by the wireless data transmission module, and converting the end contact force data into the force control amount of the remote master end mechanical arm module through the mapping algorithm, and feeding back to the remote master end mechanical arm module; Receiving the posture data of the slave end mechanical arm module and the end gripper module transmitted by the wireless data transmission module, and performing animation display.

6. The manipulator teleoperation system for adapting a quadruped robot according to claim 5, wherein, The remote master end mechanical arm module converts the force control amount output by the remote human-computer interaction module into the force of the end of the master end mechanical arm module, and applies the force to the remote operator to complete the real-time feedback of the end contact force data of the slave end mechanical arm.

7. A teleoperation control method of a manipulator of a quadruped robot, the teleoperation control method of the manipulator of the quadruped robot being implemented by the teleoperation system of the manipulator of the quadruped robot according to any one of claims 1 to 6, characterized in that, The method comprises: S1, start the mechanical arm remote operation system of the adaptive quadruped robot, and the mechanical arm remote operation system is initially completed; S2, after the initialization is completed, real-time image information is collected from the end gripper module on the slave mechanical arm module, transmitted to the remote human-computer interaction module through the wireless image transmission module, and the remote operator obtains real-time remote image information; S3, the remote operator issues a target position instruction according to the remote image information through the remote human-computer interaction module, controls the slave quadruped robot module to move to the target position and keep still, and the remote operator issues a target position instruction according to the remote image information through the remote human-computer interaction module; S4, the master mechanical arm module is controlled according to the remote image information, and the master mechanical arm module outputs an action mapping instruction to the remote human-computer interaction module; S5, the remote human-computer interaction module outputs a posture control instruction through a remote operation control model according to the action mapping instruction, and transmits the posture control instruction to the slave mechanical arm module through a wireless data transmission module to move to a specified position; S6, the remote operator issues a clamping instruction for the gripped object according to the remote image information through the remote human-computer interaction module; S7, the remote human-computer interaction module transmits the clamping instruction to the end gripper module through the wireless data transmission module to realize the clamping action; S8, the end gripper module collects end contact force data in real time, and transmits the end contact force data to the remote human-computer interaction module through the wireless data transmission module; S9, the remote human-computer interaction module displays the end contact force data in real time, and converts the end contact force data into a force control amount for the master mechanical arm module; S10, the remote master mechanical arm module converts the force control amount into the force of the end of the master mechanical arm module, and applies the force to the remote operator, thereby realizing real-time feedback of the end contact force of the slave mechanical arm module in the remote operation clamping process.

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