Remote operation system, method, device, equipment and medium

Abstract

An embodiment of the present application provides a remote operation system, method, apparatus, equipment and medium, which includes: a master-end robotic arm, a master-end controller, a master-end motor, a slave-end robotic arm, a slave-end controller and a slave-end motor. In the embodiment of the present application, when the master-end controller is subjected to an external force applied from the outside, it sends information of a first transfer angle and a first speed to the slave-end controller. The slave-end controller determines a first control torque applied to the slave-end robotic arm based on the first angular velocity, the first speed and a pre-designed control function, and determines a second transfer angle and a second speed of the slave-end motor based on the resistance currently applied to the slave-end motor and the first control torque, so that the slave-end motor drives the slave-end robotic arm to rotate, thereby effectively improving the convergence time and convergence speed of the motion tracking error of the remote operation system.

Description

Technical Field

[0001] The present application relates to the field of remote operation system control technology, and in particular to a remote operation system, method, apparatus, device and medium. Background Art

[0002] A teleoperation system is a remote operation system that can perform relatively complex and delicate operations under the control of an operator in an environment that is difficult for the operator to access. The environment that is difficult for the operator to access can be a remote place, an environment that is harmful to the operator, or an environment with a small space that is difficult for the operator to enter.

[0003] Teleoperation systems, as an extension of humans' ability to operate or sense remote devices, are currently being widely used in fields such as nuclear accident rescue, space exploration, undersea operations, and telemedicine. Currently, most research on teleoperation systems focuses on ensuring steady-state performance. However, while ensuring stability, improving transient performance, such as the convergence time and speed of motion tracking errors, is also an important and practical research direction. For example, remote surgery can minimize medical costs and make specialists more accessible worldwide. However, the stability and transient performance of telesurgical equipment are crucial to patient safety. Summary of the Invention

[0004] The present application provides a teleoperation system, method, apparatus, device and medium for improving the convergence time and convergence speed of motion tracking errors of the teleoperation system.

[0005] In a first aspect, the present application provides a teleoperation system, the system comprising: a master-end manipulator, a master-end controller, a master-end motor, a slave-end manipulator, a slave-end controller, and a slave-end motor;

[0006] The master-end motor is connected to the master-end mechanical arm, and the slave-end motor is connected to the slave-end mechanical arm;

[0007] The master-end controller is configured to obtain a first transfer angle and a first speed of the master-end motor when an external force is applied to the master-end manipulator, and send information of the first transfer angle and the first speed to the slave-end controller;

[0008] The slave-end controller is used to determine the first control torque applied to the slave-end robotic arm based on the first transfer angle, the first speed and the preset control function; obtain the resistance currently experienced by the slave-end robotic arm; and determine the second transfer angle and the second speed of the slave-end motor based on the resistance and the first control torque, so that the slave-end motor drives the slave-end robotic arm to rotate according to the second transfer angle and the second speed.

[0009] In a second aspect, the present application provides a remote operation system control method, which is applied to a master controller, and the method includes:

[0010] Obtaining a first transfer angle and a first speed of a master-end motor when an external force is applied to the master-end manipulator;

[0011] Sending information about the first transfer angle and the first speed to a slave controller;

[0012] Wherein, the main end motor is connected to the main end mechanical arm.

[0013] In a third aspect, the present application provides a remote operation system control method, which is applied to a slave controller, and the method includes:

[0014] receiving information of a first transfer angle and a first speed sent by a master controller;

[0015] determining a first control torque applied to the slave robotic arm according to the first transfer angle, the first speed, and a preset control function;

[0016] Obtain the resistance currently experienced by the slave-end robotic arm; determine the second transfer angle and the second speed of the slave-end motor based on the resistance and the first control torque, so that the slave-end motor drives the slave-end robotic arm to rotate according to the second transfer angle and the second speed; wherein, the slave-end motor is connected to the slave-end robotic arm.

[0017] In a fourth aspect, the present application provides a remote operation system control device, the device comprising:

[0018] an acquisition module, configured to acquire a first transfer angle and a first speed of a master-end motor when an external force is applied to the master-end manipulator;

[0019] A sending module, configured to send information about the first transfer angle and the first speed to a slave controller;

[0020] Wherein, the main end motor is connected to the main end mechanical arm.

[0021] In a fifth aspect, the present application provides a remote operation system control device, the device comprising:

[0022] A receiving module, configured to receive information of a first transfer angle and a first speed sent by a master controller;

[0023] a determination module, configured to determine a first control torque applied to the slave robotic arm based on the first transfer angle, the first speed, and a preset control function;

[0024] An acquisition module, configured to acquire the resistance currently experienced by the slave robotic arm;

[0025] The determining module is further configured to determine a second transfer angle and a second speed of the slave-end motor according to the resistance and the first control torque;

[0026] A control module is used to enable the slave motor to drive the slave robotic arm to rotate according to the second transfer angle and the second speed; wherein the slave motor is connected to the slave robotic arm.

[0027] In a sixth aspect, the present application also provides an electronic device, which includes at least a processor and a memory, and the processor is used to implement the steps of the above-mentioned remote operation system control method when executing the computer program stored in the memory.

[0028] In a seventh aspect, the present application also provides a computer-readable storage medium storing a computer program, which implements the steps of the above-mentioned remote operation system control method when executed by a processor.

[0029] In an embodiment of the present application, a remote operation system, method, apparatus, equipment and medium are provided, which includes a master-end robotic arm, a master-end controller, a master-end motor, a slave-end robotic arm, a slave-end controller and a slave-end motor; wherein the master-end motor is connected to the master-end robotic arm, and the slave-end motor is connected to the slave-end robotic arm. The master-end controller is used to obtain a first transfer angle and a first speed of the master-end motor when an external force is applied to the master-end robotic arm, and send information on the first transfer angle and the first speed to the slave-end controller. The slave-end controller is used to determine a first control torque applied to the slave-end robotic arm based on the first transfer angle, the first speed and a preset control function, obtain the resistance currently experienced by the slave-end robotic arm, and determine a second transfer angle and a second speed of the slave-end motor based on the resistance and the first control torque, so that the slave-end motor drives the slave-end robotic arm to rotate according to the second transfer angle and the second speed. Because in the embodiment of the present application, when the master-end control is subjected to external force applied from the outside, the information of the first transfer angle and the first speed is sent to the slave-end controller, and the slave-end controller determines the first control torque applied to the slave-end manipulator according to the first angular velocity, the first speed and the pre-designed control function, and determines the second transfer angle and the second speed of the slave-end motor according to the current resistance of the slave-end motor and the first control torque, so that the slave-end motor drives the slave-end manipulator to rotate, thereby effectively improving the convergence time and convergence speed of the motion tracking error of the teleoperation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0031] Figure 1 A schematic diagram of a remote operation system provided in an embodiment of the present application;

[0032] Figure 2 A schematic diagram of the remote operation system workflow provided in an embodiment of the present application;

[0033] Figure 3a A schematic diagram of the constraint effect of motion tracking error provided by an embodiment of the present application;

[0034] Figure 3b A schematic diagram of another constraint effect of motion tracking error provided by an embodiment of the present application;

[0035] Figure 4a This is a simulation diagram in the MATLAB software provided in the embodiment of the present application;

[0036] Figure 4b This is another simulation diagram in the MATLAB software provided in the embodiment of the present application;

[0037] Figure 5 A schematic diagram of the control process of the remote operation system provided in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of another remote operation system control process provided in an embodiment of the present application;

[0039] Figure 7 A schematic diagram of the structure of a remote operation system control device provided in an embodiment of the present application;

[0040] Figure 8 A schematic structural diagram of another remote operation system control device provided in an embodiment of the present application;

[0041] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of this application more clear, the technical solutions of the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0043] In an embodiment of the present application, a remote operation system, method, apparatus, equipment and medium are provided, which includes a master-end robotic arm, a master-end controller, a master-end motor, a slave-end robotic arm, a slave-end controller and a slave-end motor; wherein the master-end motor is connected to the master-end robotic arm, and the slave-end motor is connected to the slave-end robotic arm. The master-end controller is used to obtain a first transfer angle and a first speed of the master-end motor when an external force is applied to the master-end robotic arm, and send information on the first transfer angle and the first speed to the slave-end controller. The slave-end controller is used to determine a first control torque applied to the slave-end robotic arm based on the first transfer angle, the first speed and a preset control function, obtain the resistance currently experienced by the slave-end robotic arm, and determine a second transfer angle and a second speed of the slave-end motor based on the resistance and the first control torque, so that the slave-end motor drives the slave-end robotic arm to rotate according to the second transfer angle and the second speed. Because in the embodiment of the present application, when the master-end control is subjected to external force applied from the outside, the information of the first transfer angle and the first speed is sent to the slave-end controller, and the slave-end controller determines the first control torque applied to the slave-end manipulator according to the first angular velocity, the first speed and the pre-designed control function, and determines the second transfer angle and the second speed of the slave-end motor according to the current resistance of the slave-end motor and the first control torque, so that the slave-end motor drives the slave-end manipulator to rotate, thereby effectively improving the convergence time and convergence speed of the motion tracking error of the teleoperation system.

[0044] Example 1:

[0045] Figure 1 Schematic diagram of a teleoperation system provided in an embodiment of the present application, the system comprising: a master-end robotic arm 101, a master-end controller 102, a master-end motor 103, a slave-end robotic arm 104, a slave-end controller 105, and a slave-end motor 106;

[0046] The master-end motor 103 is connected to the master-end robotic arm 101 , and the slave-end motor 106 is connected to the slave-end robotic arm 104 .

[0047] The master controller 102 is configured to obtain a first transfer angle and a first speed of the master motor 103 when an external force is applied to the master robotic arm 101, and to send information of the first transfer angle and the first speed to the slave controller 105;

[0048] The slave-end controller 105 is used to determine the first control torque applied to the slave-end robotic arm 104 based on the first transfer angle, the first speed and the preset control function; obtain the resistance currently experienced by the slave-end robotic arm 104; and determine the second transfer angle and the second speed of the slave-end motor 106 based on the resistance and the first control torque, so that the slave-end motor 106 drives the slave-end robotic arm 104 to rotate according to the second transfer angle and the second speed.

[0049] Since the teleoperation system has relatively high requirements for the convergence time and convergence speed of motion tracking errors when performing fine operations, in order to improve the error convergence time and convergence speed of the teleoperation system, a teleoperation system is proposed in an embodiment of the present application, which includes a master-end manipulator 101, a master-end controller 102, a master-end motor 103, a slave-end manipulator 104, a slave-end controller 105, and a slave-end motor 106. Among them, the master-end motor 103 is connected to the master-end manipulator 101, and the master-end motor 103 is connected to the master-end controller 102. The master-end controller 102 can control the master-end motor 103 to drive the master-end manipulator 101 to rotate, and can also obtain relevant information such as the transfer angle, speed, acceleration, etc. of the master-end motor 103. The slave motor 106 is connected to the slave robotic arm 104, and the slave motor 106 is connected to the slave controller 105. The slave controller 105 can control the slave motor 103 to drive the slave robotic arm 104 to rotate, and can also obtain relevant information such as the transfer angle, speed, acceleration, etc. of the slave motor 106.

[0050] Typically, the master manipulator 101 is controlled by an operator, while the slave manipulator 104 is used to perform operations on behalf of the operator in environments that are difficult for the operator to access. When the teleoperation system is in operation, the master motor 103 can drive the master manipulator 101 to rotate under the control of the master controller 102. When the master manipulator 101 is subjected to an external force, the master manipulator 101 can also drive the master motor 103 to rotate. Similarly, the slave motor 106 can also drive the slave manipulator 104 to rotate under the control of the slave control unit 105. When subjected to other external forces, the slave manipulator 104 can also drive the slave motor 106 to rotate.

[0051] To improve the convergence time and speed of the teleoperation system's motion tracking error, in an embodiment of the present application, the master-side controller 102 can obtain the first transfer angle and first speed of the master-side motor 103 when an external force is applied to the master-side manipulator arm 101. That is, when an external force is applied to the master-side manipulator arm 101, the master-side manipulator arm 101 rotates, and during this rotation, the master-side manipulator arm 101 drives the master-side motor 103 to rotate. To determine the degree of rotation of the master-side manipulator arm 101, in an embodiment of the present application, the master-side controller 102 can obtain the first transfer angle and first speed of the master-side motor. The first transfer angle can be the angle between a certain marker position of the master-side motor 103 at its starting position and its current position, or the angle between a certain marker position of the master-side motor 103 and a predetermined plane. The first speed can be the obtained rotational speed of the master-side motor 101. In an embodiment of the present application, the transfer angle can be a specific transfer angle value or a matrix composed of multiple transfer angle values. If the robotic arm includes only one connecting rod, then the transfer angle can be a specific transfer angle value. If the robotic arm includes multiple connecting rods, then the transfer angle can be a matrix composed of the transfer angle values of the motors corresponding to each connecting rod.

[0052] After acquiring the first transfer angle and the first speed, the master controller 102 may send the first transfer angle and the first speed to the slave controller 105 .

[0053] After receiving the first transfer angle and first speed transmitted by the master controller 102, the slave controller 105 may determine a first control torque to be applied to the slave robotic arm 104 based on the first transfer angle, the first speed, and a preset control function, in order to enable the slave robotic arm 104 to simulate the rotation of the master robotic arm 101. Since the slave robotic arm 104 is in contact with other objects in the external environment, it may experience resistance from these objects during rotation. For example, during remote surgery, the slave robotic arm 104 may come into contact with the patient being operated on, which may result in resistance. This resistance may then affect the second transfer angle and second speed of the slave motor 106. To determine the actual second transfer angle and second speed of the slave motor 106, in this embodiment of the present application, the slave controller 105 may obtain the resistance currently experienced by the slave robotic arm 104 and, based on this resistance and the first control torque, determine the second transfer angle and second speed of the slave motor 106, thereby causing the slave motor 106 to rotate the slave robotic arm 104 at the second transfer angle and second speed. The second transfer angle may be the angle between a certain marker position of the slave motor 106 at the starting position and the current position, or the angle between a certain marker position of the slave motor 106 and a predetermined plane. Before the slave motor 106 drives the slave manipulator 104 to rotate according to the second transfer angle and the second speed, the slave controller 105 may obtain the current transfer angle of the slave motor 106, calculate the difference between the current transfer angle and the second transfer angle, and control the slave motor 106 to continue rotating by the difference transfer angle.

[0054] In the embodiment of the present application, the second transfer angle and the second speed of the slave motor 106 can be determined based on a dynamic model, which can be an Euler-Lagrangian dynamic model. The Euler-Lagrangian dynamic model can be expressed using the following formula:

[0055] (1)

[0056] in, represents the second transfer angle of the slave end motor 106, represents the second speed of the slave motor 106, represents the acceleration of the slave motor 106, is the inertia matrix of the slave manipulator 104, , are the centrifugal force and the Goethe force, , is the gravity term, is the first control torque applied to the slave end robot arm 104, is the resistance currently encountered by the slave-end robot arm 104.

[0057] The process of determining the second transfer angle and the second speed of the slave motor 106 based on the first transfer angle, the first speed and the Euler-Lagrangian dynamics model of the master motor 103 has been described in detail in the prior art and will not be repeated in the embodiments of this application.

[0058] Because in the embodiment of the present application, when the master-end control is subjected to external force applied from the outside, the information of the first transfer angle and the first speed is sent to the slave-end controller, and the slave-end controller determines the first control torque applied to the slave-end manipulator according to the first angular velocity, the first speed and the pre-designed control function, and determines the second transfer angle and the second speed of the slave-end motor according to the current resistance of the slave-end motor and the first control torque, so that the slave-end motor drives the slave-end manipulator to rotate, thereby effectively improving the convergence time and convergence speed of the motion tracking error of the teleoperation system.

[0059] Example 2:

[0060] In order to enhance the operator's experience, in the embodiment of the present application, the slave controller 105 is further configured to send information about the second transfer angle and the second speed to the master controller 102;

[0061] The master-end controller 102 is further configured to determine a second control torque applied to the master-end robotic arm 101 based on the second transfer angle, the second speed, and the preset control function; and to determine a third transfer angle and a third speed of the master-end motor 103 based on the external force applied to the master-end robotic arm 101 and the second control torque, so that the master-end motor 103 drives the master-end robotic arm 101 to rotate according to the third transfer angle and the third speed.

[0062] In order to enhance the operator's experience, in an embodiment of the present application, after the slave-end motor 106 drives the slave-end robotic arm 104 to rotate according to the second transfer angle and the second speed, the slave-end controller 105 can also send information on the second transfer angle and the second speed to the master-end controller 102, so that the master-end controller 102 can determine the third transfer angle and the third speed of the master-end motor 103 based on the second transfer angle and the second speed, so that the master-end motor 103 drives the master-end robotic arm 101 to rotate according to the third transfer angle and the third speed, so that the operator who applies external force to the master-end robotic arm 101 can obtain real feedback.

[0063] After receiving the second transfer angle and the second speed, the master controller 102 may perform similar steps as the slave controller 105, namely, determining a second control torque to be applied to the master robotic arm based on the second transfer angle, the second speed, and the preset control function. Similarly, to determine the third transfer angle and the third speed of the master motor 103, in this embodiment of the present application, the master controller 102 may determine the third transfer angle and the third speed of the master motor 103 based on the external force applied to the master robotic arm 101 and the second control torque, so that the master motor 103 drives the master robotic arm 101 to rotate according to the third transfer angle and the third speed.

[0064] In the embodiment of the present application, the master-side controller 102 can also determine the third transfer angle and the third speed of the master-side motor 103 based on a dynamic model. The dynamic model can also be an Euler-Lagrangian dynamic model. The Euler-Lagrangian dynamic model of the master-side controller 102 can be expressed using the following formula:

[0065] (2)

[0066] in, represents the third transfer angle of the main end motor 103, represents the third speed of the main end motor 103, represents the acceleration of the main end motor 103, is the inertia matrix of the master end manipulator 101, , are the centrifugal force and the Goethe force, , is the gravity term, is the second control torque applied to the master end manipulator 101, It is the external force applied to the master-end robot arm 101.

[0067] The process of determining the third transfer angle and third speed of the master motor 103 based on the second transfer angle, second speed and Euler-Lagrangian dynamics model of the slave motor 106 has been described in detail in the prior art and will not be repeated in the embodiments of this application.

[0068] The following describes the workflow of the remote operation system in conjunction with a specific embodiment. Figure 2 A schematic diagram of the remote operation system workflow provided in an embodiment of the present application.

[0069] The operator can apply force The main end robot arm 101 is applied to control the main end robot arm 101 to perform a certain operation. The main end robot arm 101 is under the external force. , driving the master motor 103 to rotate. During the rotation process, the master motor 103 generates a first transfer angle and a first speed. The master controller 102 sends the first transfer angle and the first speed of the master motor 103 to the slave controller 105 through the communication channel of the communication network. The slave controller 105 determines the first control torque to be applied to the slave manipulator 104 based on the first transfer angle, the first speed and the preset control function. , and according to the first control torque , the resistance currently experienced by the slave end robotic arm 104 and the Euler-Lagrangian dynamics model to determine the second transfer angle of the slave motor 106 and second speed , so that the slave motor 106 is at the second transfer angle and second speed The slave end robot arm 104 is driven to rotate. The slave end controller 105 sends the second transfer angle and the second speed of the slave end motor 106 to the master end controller 102 through the communication channel of the communication network. The master end controller 102 determines the second control torque applied to the master end robot arm 101 based on the second transfer angle, the second speed and the preset control function. , and according to the second control torque , the external force currently applied to the master end robot arm 101 And the Euler-Lagrangian dynamics model is used to determine the third transfer angle and the third speed of the master-end motor 103, so that the master-end motor 103 drives the master-end robotic arm 101 to rotate at the third transfer angle and the third speed, forming a closed-loop control, and ultimately achieving the purpose of the operator remotely controlling the slave-end robotic arm 104 by operating the master-end robotic arm 101 to achieve the corresponding operation.

[0070] Example 3:

[0071] In order to improve the convergence time and convergence speed of the motion tracking error of the teleoperation system, on the basis of the above embodiments, in the embodiment of the present application, the slave-end controller 105 is specifically used to obtain the fourth transfer angle and fourth speed of the slave-end motor 106; determine the difference between the fourth transfer angle and the first transfer angle, determine the difference as the motion tracking error between the master-end manipulator 101 and the slave-end manipulator 104, and determine the first product of the motion tracking error and a first preset parameter; determine the second product of the fourth speed and the second preset parameter, and determine the first difference between the opposite of the first product and the second product; determine the constraint value according to the time interval between the current time and the target time, and the target preset constraint function; based on the motion tracking error difference, the constraint value and a first preset function, obtain a first value, based on the motion tracking error, the constraint value and the second preset function, obtain a second value, and determine a third product of the first value and the second value, and a second difference between the first difference and the third product; according to the fourth transfer angle, the mass of the slave manipulator 104 and the preset gravity term determination function, determine the gravity term of the slave manipulator 104, and determine a first sum of the second difference and the gravity term; based on the fourth speed, the motion tracking error, the third product and the third preset function, obtain a third value; and determine a second sum of the third value and the first sum, and determine the second sum as the first control torque applied to the slave manipulator 104.

[0072] In order to improve the convergence time and convergence speed of the motion tracking error of the teleoperation system, in the embodiment of the present application, after receiving the first transfer angle and the first speed sent by the master controller 102, the slave controller 105 can also obtain the fourth transfer angle of the slave motor 106 at the current moment and the fourth speed of rotation to the fourth transfer angle, and determine the difference between the fourth transfer angle and the first transfer angle. The difference can be determined as the motion tracking error between the master manipulator and the slave manipulator. In the embodiment of the present application, the motion tracking error It can be expressed as: .in, represents the fourth transfer angle of the slave motor 106 at the current time t. Considering that there is a network delay when the master-end manipulator and the slave-end manipulator perform data transmission based on the communication channel, in the embodiment of the present application, it is assumed that the network constant delay is T, so the use Indicates the first transfer angle.

[0073] The motion tracking error between the master and slave manipulators is determined Afterwards, the first product of the motion tracking error and the first preset parameter can be calculated. For the convenience of description, the first product can be expressed as ,in That is, the first preset parameter, which is an arbitrary value. Those skilled in the art can determine it based on the effect of actual application simulation, and is not limited in the embodiments of the present application.

[0074] In the embodiment of the present application, a second product of the fourth speed and the second preset parameter can also be determined. The second product can be expressed as ,in That is, the second preset parameter, which can be any value, can be determined by those skilled in the art based on the effect of actual application simulation. The fourth speed.

[0075] In the embodiment of the present application, a first difference between the inverse of the first product and the second product can be determined. The first difference can be expressed by the following formula: .

[0076] The slave controller 105 can also determine the constraint value based on the time interval between the current time and the target time, and the target preset constraint function. In an embodiment of the present application, the time from the start of a certain operation to the end of the operation can be regarded as one operation, and a certain rescue, from the start of the rescue to the end of the rescue, can be regarded as one operation. In an embodiment of the present application, when determining the target time, the time point when the operator first applies external force to the master-end manipulator 101 in this operation can be obtained, and the time point is determined as the target time. Specifically, assuming that the operator is performing remote surgery to treat a patient based on a teleoperation system, the time point when the operator first controls the rotation of the master-end manipulator 101 during this operation is 11:05:35 on July 21, 2022, then the target time is 11:05:35 on July 21, 2022.

[0077] In order to achieve the configurable error convergence time and convergence speed, when determining the constraint value, on the basis of the above embodiments, in the embodiment of the present application, the slave-end controller 105 is also used to determine the constraint value based on the first preset constraint function and the time interval if the time interval is not greater than the preset maximum convergence time, wherein the constraint value is inversely proportional to the time interval; otherwise, the preset final convergence value is determined as the constraint value.

[0078] In an embodiment of the present application, the slave controller 105 can determine a constraint value during an operation based on whether the time interval between the current time and the target time is greater than a preset maximum convergence time. If the time interval is not greater than the preset maximum convergence time, the constraint value is determined based on a first preset constraint function and the time interval, where the constraint value is inversely proportional to the time interval. If the time interval is greater than the preset maximum convergence time, the preset final convergence value is determined as the constraint value.

[0079] Specifically, in the embodiment of the present application, the following target preset constraint function can be designed:

[0080] (3)

[0081] in are the design parameters; is a constant, representing the convergence rate of the motion tracking error between the master-end manipulator 101 and the slave-end manipulator 104; Indicates that the motion tracking error converges to the final convergence value The maximum convergence time required. Among them, the final convergence value , convergence speed , maximum convergence time , technicians in this field can pre-configure according to actual needs.

[0082] That is to say, in the embodiment of the present application, the first preset constraint function can be expressed as .

[0083] In this embodiment of the present application, the final convergence value can be pre-configured by the user , convergence speed , maximum convergence time ,Sure The specific value of , thereby determining the target preset constraint function The specific form of the constraint function can be preset according to the target The following formula is derived:

[0084] (4)

[0085] in , is a constant; let , then the above formula can be transformed into the following equation:

[0086] (5)

[0087] This allows the user to pre-configure the final convergence value , convergence speed , maximum convergence time ,Sure That is, the slave controller 105 receives the final convergence value input by the user. , convergence speed , maximum convergence time Afterwards, the function can be determined based on the preset parameters to determine the target preset constraint function The specific values of the preset parameters in the target are used to determine the preset constraint function The specific form of , where the preset parameter determination function is:

[0088] (6)

[0089] In the embodiment of the present application, the convergence time and convergence speed of the motion tracking error of the teleoperation system can be limited based on the target preset constraint function, so that the motion tracking error between the master end manipulator 101 and the slave end manipulator 104 can always be constrained within the target preset constraint function. For the convenience of description, the following formula can be used to express it:

[0090] (7)

[0091] in , when i=m, it represents the relevant parameters of the master end robot arm 101, and when i=s, it represents the relevant parameters of the slave end robot arm 104; Represents the first connecting rod; Those skilled in the art can make settings according to actual needs; Preset constraint function for the objective.

[0092] After the constraint value is determined, in an embodiment of the present application, a first value can be calculated based on the determined motion tracking error, the constraint value and the first preset function.

[0093] Specifically, in the embodiment of the present application, the first preset function can be expressed as:

[0094] (8)

[0095] Among them, diag means constructing a diagonal matrix, It can be expressed as:

[0096] (9)

[0097] Input the motion tracking error and constraint value into the above formula (8) and formula (9), and the first value can be obtained .

[0098] In the embodiment of the present application, the second value can be calculated based on the determined motion tracking error, the constraint value and the second preset function.

[0099] Specifically, in the embodiment of the present application, the second preset function can be expressed as:

[0100] (10)

[0101] Among them, col means constructing a column matrix, It can be expressed as:

[0102] (11)

[0103] Input the motion tracking error and constraint value into the above formula (10) and formula (11), and the second value can be obtained .

[0104] After determining the first value and the second value, the third product of the first value and the second value can be determined. Specifically, the third product can be expressed as .

[0105] In the embodiment of the present application, a second difference between the first difference and the third product can be calculated. Specifically, the second difference can be expressed as .

[0106] After determining the second difference, in the embodiment of the present application, the gravity term of the slave manipulator 104 can be determined based on the fourth transfer angle, the mass of the slave manipulator 104, and the preset gravity term determination function. The process of determining the gravity term has been described in detail in the related art and will not be repeated in the embodiment of the present application. After determining the gravity term of the slave manipulator 104, the first sum of the second difference and the gravity term can be calculated and determined. The sum can be expressed as .

[0107] In the embodiment of the present application, a third value can also be obtained based on the fourth speed, the motion tracking error, the third product and the third preset function.

[0108] Specifically, the third preset function can be expressed as:

[0109] (12)

[0110] Where T is the constant delay, is the motion tracking error, is the third product, The fourth speed.

[0111] In the embodiment of the present application, a second sum of the third value and the first sum can be determined, and the second sum can be determined as the first control torque applied to the slave robot arm 104.

[0112] Specifically, the first control torque applied to the slave manipulator 104 can be expressed as:

[0113] (13)

[0114] In the embodiment of the present application, the preset control function is the above formula (13).

[0115] Based on the same inventive concept, the master-end controller 102 can also perform operations similar to those of the slave-end controller. In order to further improve the error convergence time and convergence speed of the teleoperation system, on the basis of the above embodiments, in the embodiment of the present application, the master-end controller 102 is specifically used to obtain the fifth transfer angle and the fifth speed of the master-end motor; determine the difference between the fifth transfer angle and the second transfer angle, determine the difference as the motion tracking error between the slave-end manipulator 104 and the master-end manipulator 101, and determine the fourth product of the motion tracking error and the third preset parameter; determine the fifth product of the fifth speed and the fourth preset parameter, and determine the third difference between the inverse of the fourth product and the fifth product; determine the time interval between the current time and the target time, and the target preset constraint function. A constraint value is determined; a fourth value is obtained based on the motion tracking error, the constraint value and the first preset function; a fifth value is obtained based on the motion tracking error, the constraint value and the second preset function, and a sixth product of the third value and the fifth value, and a fourth difference between the third difference and the sixth product is determined; according to the fifth transfer angle, the mass of the master-end manipulator 101 and the preset gravity term determination function, the gravity term of the master-end manipulator 101 is determined, and a third sum of the fourth difference and the gravity term is determined; a sixth value is obtained based on the fourth speed, the motion tracking error, the sixth product and the third preset function; and a fourth sum of the sixth value and the third sum is determined, and the fourth sum is determined as the second control torque applied to the master-end manipulator 101.

[0116] According to the fifth transfer angle and the second transfer angle, the motion tracking error between the slave end robot arm 104 and the master end robot arm 101 can be expressed as: .

[0117] Determine the second control torque applied to the master end manipulator 101 It can be expressed as:

[0118] (14)

[0119] Among them, The third preset value, is the fourth preset value, is the sixth product, is the gravity term of the master end manipulator 101, The sixth value.

[0120] To prove whether the preset control function is achievable, the expected convergence time, speed, and range of the motion tracking error of the teleoperation system master manipulator 101 and slave manipulator 104 can be set by selecting appropriate parameters. In some embodiments of the present application, an appropriate Lyapunov function can be selected for proof. The specific steps are as follows:

[0121] In the embodiment of the present application, the following Lyapunov function can be selected:

[0122] (15)

[0123] in:

[0124] (16)

[0125] in, and The maximum allowed delay between the master-end robot arm 101 and the slave-end robot arm 104.

[0126] Through the above form of Lyapunov function, we can prove that , , thus the teleoperation system is stable and the error constraint of the teleoperation system can be achieved. In the error constraint process, the expected convergence time, convergence speed and final convergence value of the motion tracking error of the master and slave manipulators of the teleoperation system can be set by selecting appropriate parameters.

[0127] Figure 3a A schematic diagram of the constraint effect of motion tracking error provided in an embodiment of the present application is shown in FIG. Figure 3a As shown in FIG, the purpose of constraining the motion tracking error between the teleoperation system master end manipulator 101 and the slave end manipulator 104 is achieved, so that the motion tracking error is Always constrained to the target preset constraint function and at the maximum convergence time The motion tracking error between the master-end robot arm 101 and the slave-end robot arm 104 has approached zero.

[0128] Figure 3b This is another schematic diagram of the constraint effect of the motion tracking error provided by the embodiment of the present application, such as Figure 3bAs shown, relative to Figure 3a ,exist Figure 3b The final convergence value , maximum convergence time Reduce the motion tracking error between the teleoperation system master end manipulator 101 and the slave end manipulator 104, and still be constrained to the target preset constraint function and at the maximum convergence time The motion tracking error between the master-end robot arm 101 and the slave-end robot arm 104 has approached zero.

[0129] pass Figure 3a and Figure 3b As can be seen from the constraint effect diagram, in the embodiment of the present application, the operator can select appropriate parameters to set the expected convergence time of the motion tracking error between the teleoperation system master end manipulator 101 and the slave end manipulator 104. and the convergence range , to achieve the motion tracking error More effective control can effectively improve the convergence time and convergence speed of the motion tracking error of the teleoperation system.

[0130] In an embodiment of the present application, the preset control function of the teleoperation system is also simulated in MATLAB to verify that the teleoperation system specified performance control method based on the target preset constraint function proposed in the embodiment of the present application has a performance constraint effect on the convergence time and convergence speed of the motion tracking error.

[0131] Figure 4a This is a simulation diagram of the MATLAB software provided in the embodiment of the present application. In the embodiment of the present application, the final convergence value is set to , maximum convergence time The motion tracking error constraint curves of the two links of the two-degree-of-freedom master end manipulator 101 are as follows: Figure 4a As shown, the errors of the two connecting rods of the master end manipulator 101 are constrained within the target preset constraint function In this way, the constraints on motion errors are achieved.

[0132] In order to further verify the controllability of the new constraint function proposed in the embodiment of the present application on the convergence time and convergence speed of motion tracking error, it is set , , Figure 4b This is another simulation diagram in the MATLAB software provided in the embodiment of the present application, such as Figure 4b The motion tracking error constraint curve of the two connecting rods of the two-degree-of-freedom master end manipulator 101 is shown. The motion tracking error is within the set maximum convergence time. Previously, they all converged to the set final convergence value .

[0133] Example 4:

[0134] Based on the above embodiments, in an embodiment of the present application, a remote operation system control method is provided, which is applied to a master controller. Figure 5 This is a schematic diagram of the remote operation system control process provided in an embodiment of the present application. The process includes the following steps:

[0135] S501: Acquire a first transfer angle and a first speed of a master-end motor when an external force is applied to the master-end manipulator;

[0136] S502: Sending information about the first transfer angle and the first speed to a slave controller; wherein the master motor is connected to the master robotic arm.

[0137] In one possible implementation, the method further includes:

[0138] receiving information of a second transfer angle and a second speed sent from the end controller;

[0139] determining a second control torque applied to the master-end robotic arm according to the second transfer angle, the second speed, and a preset control function;

[0140] According to the external force applied to the master-end robotic arm and the second control torque, the third transfer angle and the third speed of the master-end motor are determined, so that the master-end motor drives the master-end robotic arm to rotate according to the third transfer angle and the third speed.

[0141] Example 5:

[0142] On the basis of the above embodiments, in an embodiment of the present application, a remote operation system control method is provided, which is applied to a slave controller. Figure 6 This is a schematic diagram of another remote operation system control process provided in an embodiment of the present application, which includes the following steps:

[0143] S601: Receive information about a first transfer angle and a first speed sent by a master controller;

[0144] S602: Determine a first control torque applied to the slave robotic arm according to the first transfer angle, the first speed, and a preset control function;

[0145] S603: Obtain the resistance currently experienced by the slave-end robotic arm; determine the second transfer angle and the second speed of the slave-end motor based on the resistance and the first control torque, so that the slave-end motor drives the slave-end robotic arm to rotate according to the second transfer angle and the second speed; wherein the slave-end motor is connected to the slave-end robotic arm.

[0146] In one possible implementation, the method further includes:

[0147] The information of the second transfer angle and the second speed is sent to the master controller.

[0148] In a possible implementation, determining the first control torque applied to the slave robotic arm according to the first transfer angle, the first speed, and a preset control function includes:

[0149] Obtain a fourth transfer angle and a fourth speed of the slave-end motor; determine a difference between the fourth transfer angle and the first transfer angle, determine the difference as a motion tracking error between the master-end manipulator and the slave-end manipulator, and determine a first product of the motion tracking error and a first preset parameter; determine a second product of the fourth speed and a second preset value, and determine a first difference between the opposite of the first product and the second product; determine a constraint value based on the time interval between the current time and the target time, and a target preset constraint function; obtain a first value based on the motion tracking error, the constraint value and the first preset function, and obtain a first value based on the motion tracking error. error, the constraint value and a second preset function to obtain a second value, and determine a third product of the first value and the second value, and a second difference between the first difference and the third product; according to the fourth transfer angle, the mass of the slave manipulator and the preset gravity term determination function, determine the gravity term of the slave manipulator, and determine a first sum of the second difference and the gravity term; based on the fourth speed, the motion tracking error, the third product and a third preset function, obtain a third value; and determine a second sum of the third value and the first sum, and determine the second sum as the first control torque applied to the slave manipulator.

[0150] In a possible implementation, determining the constraint value according to the time interval between the current time and the target time and the target preset constraint function includes:

[0151] If the time interval is not greater than the preset maximum convergence time, the constraint value is determined based on a first preset constraint function and the time interval, wherein the constraint value is inversely proportional to the time interval; otherwise, the preset final convergence value is determined as the constraint value.

[0152] Example 6:

[0153] Figure 7 This is a schematic diagram of the structure of the remote operation system control device provided in the embodiment of the present application, as shown in FIG. Figure 7 As shown, the device includes:

[0154] An acquisition module 701 is configured to acquire a first transfer angle and a first speed of a master-end motor when an external force is applied to the master-end manipulator;

[0155] The sending module 702 is used to send information about the first transfer angle and the first speed to the slave controller; wherein the master motor is connected to the master robotic arm.

[0156] In a possible implementation, the device further includes:

[0157] The receiving module 703 is configured to receive information of a second transfer angle and a second speed sent from the end controller;

[0158] a determination module 704, configured to determine a second control torque applied to the master-end manipulator according to the second transfer angle, the second speed, and a preset control function;

[0159] The determining module 704 is further configured to determine a third transfer angle and a third speed of the master-end motor according to the external force applied to the master-end manipulator and the second control torque;

[0160] The control module 705 enables the master-end motor to drive the master-end robotic arm to rotate according to the third transfer angle and the third speed.

[0161] Figure 8 This is a structural diagram of another remote operation system control device provided in an embodiment of the present application, such as Figure 8 As shown, the device includes:

[0162] The receiving module 801 is configured to receive information about a first transfer angle and a first speed sent by a master controller;

[0163] a determination module 802 configured to determine a first control torque to be applied to the slave manipulator arm according to the first transfer angle, the first speed, and a preset control function;

[0164] An acquisition module 803 is configured to acquire the resistance currently experienced by the slave manipulator arm;

[0165] The determining module 802 is further configured to determine a second transfer angle and a second speed of the slave motor according to the resistance and the first control torque;

[0166] The control module 804 is configured to enable the slave motor to drive the slave robotic arm to rotate according to the second transfer angle and the second speed; wherein the slave motor is connected to the slave robotic arm.

[0167] In a possible implementation, the device further includes:

[0168] The sending module 805 is configured to send information about the second transfer angle and the second speed to the master controller.

[0169] In a possible implementation, the acquisition module 803 is further configured to acquire a fourth transfer angle and a fourth speed of the slave motor;

[0170] The determination module 802 is specifically configured to determine a difference between the fourth transfer angle and the first transfer angle, determine the difference as a motion tracking error between the master-end manipulator and the slave-end manipulator, and determine a first product of the motion tracking error and a first preset parameter; determine a second product of the fourth speed and a second preset value, and determine a first difference between the opposite of the first product and the second product; determine a constraint value based on a time interval between a current time and a target time, and a target preset constraint function; obtain a first value based on the motion tracking error, the constraint value, and the first preset function, and based on the motion tracking error, The constraint value and the second preset function are used to obtain a second value, and a third product of the first value and the second value, as well as a second difference between the first difference and the third product are determined; according to the fourth transfer angle, the mass of the slave-end robotic arm and the preset gravity term determination function, the gravity term of the slave-end robotic arm is determined, and a first sum of the second difference and the gravity term is determined; based on the fourth speed, the motion tracking error, the third product and the third preset function, a third value is obtained; and a second sum of the third value and the first sum is determined, and the second sum is determined as the first control torque applied to the slave-end robotic arm.

[0171] In one possible implementation, the determination module 802 is specifically used to determine the constraint value based on a first preset constraint function and the time interval if the time interval is not greater than the preset maximum convergence time, wherein the constraint value is inversely proportional to the time interval; otherwise, the preset final convergence value is determined as the constraint value.

[0172] Since the principle of solving the problem by the above device is similar to that of the remote operation system control method, the implementation of the above device can refer to the above embodiment, and the repeated parts will not be repeated.

[0173] Example 7:

[0174] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Based on the above embodiments, the present application also provides an electronic device, such as Figure 9As shown, it includes: a processor 901, a communication interface 902, a memory 903 and a communication bus 904, wherein the processor 901, the communication interface 902, and the memory 903 communicate with each other through the communication bus 904;

[0175] The memory 903 stores a computer program. When the program is executed by the processor 901, the processor 901 performs the following steps:

[0176] Obtaining a first transfer angle and a first speed of a master-end motor when an external force is applied to the master-end manipulator;

[0177] Sending information about the first transfer angle and the first speed to a slave controller;

[0178] Wherein, the main end motor is connected to the main end mechanical arm.

[0179] In one possible implementation, the method further includes:

[0180] receiving information of a second transfer angle and a second speed sent from the end controller;

[0181] determining a second control torque applied to the master-end robotic arm according to the second transfer angle, the second speed, and a preset control function;

[0182] According to the external force applied to the master-end robotic arm and the second control torque, the third transfer angle and the third speed of the master-end motor are determined, so that the master-end motor drives the master-end robotic arm to rotate according to the third transfer angle and the third speed.

[0183] The processor 901 may further perform the following steps:

[0184] receiving information of a first transfer angle and a first speed sent by a master controller;

[0185] determining a first control torque applied to the slave robotic arm according to the first transfer angle, the first speed, and a preset control function;

[0186] Obtain the resistance currently experienced by the slave-end robotic arm; determine the second transfer angle and the second speed of the slave-end motor based on the resistance and the first control torque, so that the slave-end motor drives the slave-end robotic arm to rotate according to the second transfer angle and the second speed; wherein, the slave-end motor is connected to the slave-end robotic arm.

[0187] In one possible implementation, the method further includes:

[0188] The information of the second transfer angle and the second speed is sent to the master controller.

[0189] In a possible implementation, determining the first control torque applied to the slave robotic arm according to the first transfer angle, the first speed, and a preset control function includes:

[0190] Obtain a fourth transfer angle and a fourth speed of the slave-end motor; determine a difference between the fourth transfer angle and the first transfer angle, determine the difference as a motion tracking error between the master-end manipulator and the slave-end manipulator, and determine a first product of the motion tracking error and a first preset parameter; determine a second product of the fourth speed and a second preset value, and determine a first difference between the opposite of the first product and the second product; determine a constraint value based on the time interval between the current time and the target time, and a target preset constraint function; obtain a first value based on the motion tracking error, the constraint value and the first preset function, and obtain a first value based on the motion tracking error. error, the constraint value and a second preset function to obtain a second value, and determine a third product of the first value and the second value, and a second difference between the first difference and the third product; according to the fourth transfer angle, the mass of the slave manipulator and the preset gravity term determination function, determine the gravity term of the slave manipulator, and determine a first sum of the second difference and the gravity term; based on the fourth speed, the motion tracking error, the third product and a third preset function, obtain a third value; and determine a second sum of the third value and the first sum, and determine the second sum as the first control torque applied to the slave manipulator.

[0191] In a possible implementation, determining the constraint value according to the time interval between the current time and the target time and the target preset constraint function includes:

[0192] If the time interval is not greater than the preset maximum convergence time, the constraint value is determined based on a first preset constraint function and the time interval, wherein the constraint value is inversely proportional to the time interval; otherwise, the preset final convergence value is determined as the constraint value.

[0193] Since the principle of solving the problem by the above electronic device is similar to the remote operation system control method, the implementation of the above electronic device can refer to the above embodiment, and the repeated parts will not be repeated.

[0194] The communication bus mentioned in the electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, among others. This communication bus can be divided into an address bus, a data bus, a control bus, and so on. For ease of illustration, the figure uses only a single thick line, but this does not imply that there is only one bus or only one type of bus. Communication interface 902 is used for communication between the electronic device and other devices. The memory can include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk drive. Optionally, the memory can also be at least one storage device located remotely from the processor. The processor can be a general-purpose processor, including a central processing unit (CPU) or a network processor (NP); it can also be a digital signal processing (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic devices, or discrete hardware components.

[0195] Example 8:

[0196] Based on the above embodiments, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program executable by a processor. When the program is executed on the processor, the processor implements the following steps:

[0197] Obtaining a first transfer angle and a first speed of a master-end motor when an external force is applied to the master-end manipulator;

[0198] Sending information about the first transfer angle and the first speed to a slave controller;

[0199] Wherein, the main end motor is connected to the main end mechanical arm.

[0200] In one possible implementation, the method further includes:

[0201] receiving information of a second transfer angle and a second speed sent from the end controller;

[0202] determining a second control torque applied to the master-end robotic arm according to the second transfer angle, the second speed, and a preset control function;

[0203] According to the external force applied to the master-end robotic arm and the second control torque, the third transfer angle and the third speed of the master-end motor are determined, so that the master-end motor drives the master-end robotic arm to rotate according to the third transfer angle and the third speed.

[0204] When executed, the processor may further implement the following steps:

[0205] receiving information of a first transfer angle and a first speed sent by a master controller;

[0206] determining a first control torque applied to the slave robotic arm according to the first transfer angle, the first speed, and a preset control function;

[0207] Obtain the resistance currently experienced by the slave-end robotic arm; determine the second transfer angle and the second speed of the slave-end motor based on the resistance and the first control torque, so that the slave-end motor drives the slave-end robotic arm to rotate according to the second transfer angle and the second speed; wherein, the slave-end motor is connected to the slave-end robotic arm.

[0208] In one possible implementation, the method further includes:

[0209] The information of the second transfer angle and the second speed is sent to the master controller.

[0210] In a possible implementation, determining the first control torque applied to the slave robotic arm according to the first transfer angle, the first speed, and a preset control function includes:

[0211] Obtain a fourth transfer angle and a fourth speed of the slave-end motor; determine a difference between the fourth transfer angle and the first transfer angle, determine the difference as a motion tracking error between the master-end manipulator and the slave-end manipulator, and determine a first product of the motion tracking error and a first preset parameter; determine a second product of the fourth speed and a second preset value, and determine a first difference between the opposite of the first product and the second product; determine a constraint value based on the time interval between the current time and the target time, and a target preset constraint function; obtain a first value based on the motion tracking error, the constraint value and the first preset function, and obtain a first value based on the motion tracking error. error, the constraint value and a second preset function to obtain a second value, and determine a third product of the first value and the second value, and a second difference between the first difference and the third product; according to the fourth transfer angle, the mass of the slave manipulator and the preset gravity term determination function, determine the gravity term of the slave manipulator, and determine a first sum of the second difference and the gravity term; based on the fourth speed, the motion tracking error, the third product and a third preset function, obtain a third value; and determine a second sum of the third value and the first sum, and determine the second sum as the first control torque applied to the slave manipulator.

[0212] In a possible implementation, determining the constraint value according to the time interval between the current time and the target time and the target preset constraint function includes:

[0213] If the time interval is not greater than the preset maximum convergence time, the constraint value is determined based on a first preset constraint function and the time interval, wherein the constraint value is inversely proportional to the time interval; otherwise, the preset final convergence value is determined as the constraint value.

[0214] Since the principle of solving the problem provided by the computer-readable medium is similar to the remote operation system control method, after the processor executes the computer program in the computer-readable medium, the steps implemented can refer to the above embodiment, and the repeated parts will not be repeated.

[0215] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0216] As for the system / device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0217] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0218] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0219] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0220] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0221] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A teleoperation system, characterized in that: The system comprises: a master-end mechanical arm, a master-end controller, a master-end motor, a slave-end mechanical arm, a slave-end controller and a slave-end motor; The master-end motor is connected to the master-end mechanical arm, and the slave-end motor is connected to the slave-end mechanical arm; The master-end controller is configured to obtain a first transfer angle and a first speed of the master-end motor when an external force is applied to the master-end robotic arm, and to send information of the first transfer angle and the first speed to the slave-end controller; wherein the first transfer angle is the angle between a preset marker of the master-end motor at a starting position and a current position, or the angle between a preset marker of the master-end motor and a preset plane; if the master-end robotic arm includes one connecting rod, the first transfer angle is a specific transfer angle value; if the master-end robotic arm includes multiple connecting rods, the first transfer angle is a matrix consisting of transfer angle values of the motor corresponding to each connecting rod; The slave controller is configured to determine a first control torque applied to the slave robotic arm based on the first transfer angle, the first speed, and a preset control function; obtain a resistance currently experienced by the slave robotic arm; and determine a second transfer angle and a second speed of the slave motor based on the resistance and the first control torque, so that the slave motor drives the slave robotic arm to rotate according to the second transfer angle and the second speed. The slave controller is specifically used to obtain a fourth transfer angle and a fourth speed of the slave motor; determine a difference between the fourth transfer angle and the first transfer angle, determine the difference as a motion tracking error between the master manipulator and the slave manipulator, and determine a first product of the motion tracking error and a first preset parameter; determine a second product of the fourth speed and a second preset value, and determine a first difference between the opposite of the first product and the second product; determine a constraint value based on the time interval between the current time and the target time, and a target preset constraint function; obtain a first value based on the motion tracking error, the constraint value and the first preset function, and A second value is obtained using the motion tracking error, the constraint value, and a second preset function, and a third product of the first value and the second value, as well as a second difference between the first difference and the third product, is determined; a gravity term of the slave manipulator is determined based on the fourth transfer angle, the mass of the slave manipulator arm, and a preset gravity term determination function, and a first sum of the second difference and the gravity term is determined; a third value is obtained based on the fourth speed, the motion tracking error, the third product, and a third preset function; a second sum of the third value and the first sum is determined, and the second sum is determined as a first control torque applied to the slave manipulator arm; Wherein, the first preset function is: , where diag represents the construction of a diagonal matrix, Expressed as: ,in, , when i=m, it represents the relevant parameters of the master end robot arm, and when i=s, it represents the relevant parameters of the slave end robot arm; Represents the first connecting rod; Those skilled in the art can make settings according to actual needs; Preset constraint function for the target; Among them, the second preset function is: , where col represents the construction of a column matrix, Expressed as: ; Among them, the third preset function is , where T is the constant delay, is the motion tracking error, is the third product, The fourth speed.

2. The system according to claim 1, wherein The slave controller is further configured to send information about the second transfer angle and the second speed to the master controller; The master-end controller is further configured to determine a second control torque applied to the master-end robotic arm based on the second transfer angle, the second speed, and the preset control function; and to determine a third transfer angle and a third speed of the master-end motor based on the external force applied to the master-end robotic arm and the second control torque, so that the master-end motor drives the master-end robotic arm to rotate according to the third transfer angle and the third speed.

3. The system according to claim 1, wherein: The slave controller is further configured to determine the constraint value based on a first preset constraint function and the time interval if the time interval is not greater than a preset maximum convergence time, wherein the constraint value is inversely proportional to the time interval; otherwise, determine the preset final convergence value as the constraint value.

4. A remote control system control method, characterized in that: Applied to a master-side controller, the method includes: Obtaining a first transfer angle and a first speed of a master-end motor when an external force is applied to the master-end robotic arm; wherein the first transfer angle is the angle between a preset marker position of the master-end motor at a starting position and a current position, or the angle between a preset marker position of the master-end motor and a preset plane; if the master-end robotic arm includes a single connecting rod, the first transfer angle is a specific transfer angle value; if the master-end robotic arm includes multiple connecting rods, the first transfer angle is a matrix consisting of transfer angle values of the motor corresponding to each connecting rod; Sending information about the first transfer angle and the first speed to a slave controller; Wherein, the main end motor is connected to the main end mechanical arm; receiving information of a second transfer angle and a second speed sent from the end controller; determining a second control torque applied to the master-end robotic arm according to the second transfer angle, the second speed, and a preset control function; determining a third transfer angle and a third speed of the master-end motor according to the external force applied to the master-end manipulator arm and the second control torque, so that the master-end motor drives the master-end manipulator arm to rotate according to the third transfer angle and the third speed; The determining, based on the second transfer angle, the second speed, and a preset control function, of a second control torque applied to the master-end robotic arm includes: Obtain a fifth transfer angle and a fifth speed of the master-end motor; determine a difference between the fifth transfer angle and the second transfer angle, determine the difference as a motion tracking error between the slave-end manipulator and the master-end manipulator, and determine a fourth product of the motion tracking error and a third preset parameter; determine a fifth product of the fifth speed and a fourth preset parameter, and determine a third difference between the inverse of the fourth product and the fifth product; determine a constraint value based on the time interval between the current time and the target time, and a target preset constraint function; obtain a fourth value based on the motion tracking error, the constraint value, and the first preset function, and obtain a fourth value based on the motion tracking error the difference, the constraint value, and a second preset function to obtain a fifth value, and determine a sixth product of the fourth value and the fifth value, and a fourth difference between the third difference and the sixth product; determine a gravity term of the master-end manipulator according to the fifth transfer angle, the mass of the master-end manipulator, and a preset gravity term determination function, and determine a third sum of the fourth difference and the gravity term; obtain a sixth value based on the fifth speed, the motion tracking error, the sixth product, and a third preset function; and determine a fourth sum of the sixth value and the third sum, and determine the fourth sum as a second control torque applied to the master-end manipulator; Wherein, the first preset function is: , where diag represents the construction of a diagonal matrix, Expressed as: ,in, , when i=m, it represents the relevant parameters of the master end robot arm, and when i=s, it represents the relevant parameters of the slave end robot arm; Represents the first connecting rod; Those skilled in the art can make settings according to actual needs; Preset constraint function for the target; Among them, the second preset function is: , where col represents the construction of a column matrix, Expressed as: ; Among them, the third preset function is , where T is the constant delay, is the motion tracking error, is the third product, The fourth speed.

5. A remote control system control method, characterized in that: Applied to a slave controller, the method includes: Receive information about a first transfer angle and a first speed sent by a master-end controller; wherein the first transfer angle is the angle between a preset marker of a master-end motor at a starting position and a current position, or the angle between a preset marker of the master-end motor and a preset plane; if the master-end robotic arm includes a single connecting rod, the first transfer angle is a specific transfer angle value; if the master-end robotic arm includes multiple connecting rods, the first transfer angle is a matrix consisting of transfer angle values of motors corresponding to each connecting rod; determining a first control torque applied to the slave robotic arm according to the first transfer angle, the first speed, and a preset control function; Obtaining the resistance currently experienced by the slave robotic arm; determining a second transfer angle and a second speed of the slave motor based on the resistance and the first control torque, so that the slave motor drives the slave robotic arm to rotate according to the second transfer angle and the second speed; wherein the slave motor is connected to the slave robotic arm; The determining, based on the first transfer angle, the first speed, and a preset control function, of a first control torque applied to the slave robotic arm comprises: Obtain a fourth transfer angle and a fourth speed of the slave-end motor; determine a difference between the fourth transfer angle and the first transfer angle, determine the difference as a motion tracking error between the master-end manipulator and the slave-end manipulator, and determine a first product of the motion tracking error and a first preset parameter; determine a second product of the fourth speed and a second preset value, and determine a first difference between the opposite of the first product and the second product; determine a constraint value based on the time interval between the current time and the target time, and a target preset constraint function; obtain a first value based on the motion tracking error, the constraint value and the first preset function, and obtain a first value based on the motion tracking error. The method further comprises: determining a first value based on the fourth transfer angle, the mass of the slave manipulator arm, and a preset gravity term determination function to obtain a second value, and determining a third product of the first value and the second value, and a second difference between the first difference and the third product; determining a gravity term of the slave manipulator arm according to the fourth transfer angle, the mass of the slave manipulator arm, and a preset gravity term determination function, and determining a first sum of the second difference and the gravity term; obtaining a third value based on the fourth speed, the motion tracking error, the third product, and a third preset function; and determining a second sum of the third value and the first sum, and determining the second sum as a first control torque applied to the slave manipulator arm; Wherein, the first preset function is: , where diag represents the construction of a diagonal matrix, Expressed as: ,in, , when i=m, it represents the relevant parameters of the master end robot arm, and when i=s, it represents the relevant parameters of the slave end robot arm; Represents the first connecting rod; Those skilled in the art can make settings according to actual needs; Preset constraint function for the target; Among them, the second preset function is: , where col represents the construction of a column matrix, Expressed as: ; Among them, the third preset function is , where T is the constant delay, is the motion tracking error, is the third product, The fourth speed.

6. A remote control system control device, characterized in that: The device comprises: an acquisition module, configured to acquire a first transfer angle and a first speed of a master-end motor when an external force is applied to the master-end manipulator arm; wherein the first transfer angle is the angle between a preset marker position of the master-end motor at a starting position and a current position, or the angle between a preset marker position of the master-end motor and a preset plane; if the master-end manipulator arm includes a single connecting rod, the first transfer angle is a specific transfer angle value; if the master-end manipulator arm includes multiple connecting rods, the first transfer angle is a matrix consisting of transfer angle values of the motor corresponding to each connecting rod; A sending module, configured to send information about the first transfer angle and the first speed to a slave controller; Wherein, the main end motor is connected to the main end mechanical arm; A receiving module, configured to receive information of a second transfer angle and a second speed sent from the end controller; a determination module, configured to determine a second control torque applied to the master-end robotic arm based on the second transfer angle, the second speed, and a preset control function; The determining module is further configured to determine a third transfer angle and a third speed of the master-end motor according to the external force applied to the master-end manipulator and the second control torque; a control module, causing the master-end motor to drive the master-end robotic arm to rotate according to the third transfer angle and the third speed; The determination module is specifically used to obtain the fifth transfer angle and the fifth speed of the master-end motor; determine the difference between the fifth transfer angle and the second transfer angle, determine the difference as the motion tracking error between the slave-end manipulator and the master-end manipulator, and determine the fourth product of the motion tracking error and the third preset parameter; determine the fifth product of the fifth speed and the fourth preset parameter, and determine the third difference between the opposite of the fourth product and the fifth product; determine the constraint value according to the time interval between the current time and the target time, and the target preset constraint function; obtain the fourth value based on the motion tracking error, the constraint value and the first preset function, and obtain the fourth value based on the a fifth value is obtained based on the motion tracking error, the constraint value, and a second preset function, and a sixth product of the fourth value and the fifth value, and a fourth difference between the third difference and the sixth product is determined; a gravity term of the master-end manipulator is determined based on the fifth transfer angle, the mass of the master-end manipulator, and a preset gravity term determination function, and a third sum of the fourth difference and the gravity term is determined; a sixth value is obtained based on the fifth speed, the motion tracking error, the sixth product, and a third preset function; a fourth sum of the sixth value and the third sum is determined, and the fourth sum is determined as a second control torque applied to the master-end manipulator; Wherein, the first preset function is: , where diag represents the construction of a diagonal matrix, Expressed as: ,in, , when i=m, it represents the relevant parameters of the master end robot arm, and when i=s, it represents the relevant parameters of the slave end robot arm; Represents the first connecting rod; Those skilled in the art can make settings according to actual needs; Preset constraint function for the target; Among them, the second preset function is: , where col represents the construction of a column matrix, Expressed as: ; Among them, the third preset function is , where T is the constant delay, is the motion tracking error, is the third product, The fourth speed.

7. A remote control system control device, characterized in that: The device comprises: A receiving module, configured to receive information about a first transfer angle and a first speed sent by a master-end controller; wherein the first transfer angle is the angle between a preset marker position of a master-end motor at a starting position and a current position, or the angle between a preset marker position of the master-end motor and a preset plane; if the master-end robotic arm includes a single connecting rod, the first transfer angle is a specific transfer angle value; if the master-end robotic arm includes multiple connecting rods, the first transfer angle is a matrix consisting of transfer angle values of the motors corresponding to each connecting rod; a determination module, configured to determine a first control torque applied to the slave robotic arm based on the first transfer angle, the first speed, and a preset control function; An acquisition module, configured to acquire the resistance currently experienced by the slave robotic arm; The determining module is further configured to determine a second transfer angle and a second speed of the slave-end motor according to the resistance and the first control torque; a control module, configured to cause the slave motor to drive the slave robotic arm to rotate according to the second transfer angle and the second speed; wherein the slave motor is connected to the slave robotic arm; The acquisition module is further configured to acquire a fourth transfer angle and a fourth speed of the slave motor; The determination module is specifically used to determine the difference between the fourth transfer angle and the first transfer angle, determine the difference as the motion tracking error between the master-end manipulator and the slave-end manipulator, and determine a first product of the motion tracking error and a first preset parameter; determine a second product of the fourth speed and a second preset value, and determine a first difference between the opposite of the first product and the second product; determine a constraint value based on the time interval between the current time and the target time, and a target preset constraint function; obtain a first value based on the motion tracking error, the constraint value and the first preset function, and based on the motion tracking error, the The method comprises the steps of: determining a first value and a second value based on a constraint value and a second preset function, determining a third product of the first value and the second value, and determining a second difference between the first difference and the third product; determining a gravity term of the slave manipulator according to the fourth transfer angle, the mass of the slave manipulator, and a preset gravity term determination function, and determining a first sum of the second difference and the gravity term; obtaining a third value based on the fourth speed, the motion tracking error, the third product, and a third preset function; determining a second sum of the third value and the first sum, and determining the second sum as a first control torque applied to the slave manipulator; Wherein, the first preset function is: , where diag represents the construction of a diagonal matrix, Expressed as: ,in, , when i=m, it represents the relevant parameters of the master end robot arm, and when i=s, it represents the relevant parameters of the slave end robot arm; Represents the first connecting rod; Those skilled in the art can make settings according to actual needs; Preset constraint function for the target; Among them, the second preset function is: , where col represents the construction of a column matrix, Expressed as: ; Among them, the third preset function is , where T is the constant delay, is the motion tracking error, is the third product, The fourth speed.

8. An electronic device, characterized in that: The electronic device comprises at least a processor and a memory, and the processor is configured to implement the steps of the remote operation system control method according to claim 4 or 5 when executing a computer program stored in the memory.

9. A computer-readable storage medium, characterized in that It stores a computer program, which, when executed by a processor, implements the steps of the remote operation system control method according to claim 4 or 5.

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