Master-slave hybrid mapping method for human-computer interaction system and application thereof

Abstract

The application discloses a master-slave end hybrid mapping method for a human-computer interaction system and application thereof, and belongs to the technical field of human-computer interaction, and comprises the following steps: a slave end executes a corresponding mapping method according to a mode selected by a master end in different stages and specific task requirements; wherein the mode of the human-computer interaction system comprises a first mode and a second mode; the corresponding mapping method in the first mode is applied to a large-range fast rough positioning operation scene, and the corresponding mapping method in the second mode is applied to a small-range slow fine operation scene; through the hybrid mapping method, the consistency of end postures of master-slave end devices is maintained while the reachable range of a working space of the human-computer interaction system is improved; after mode switching, fine operation under operation space mapping can be realized, and continuous and smooth switching of positions and postures can be realized, so that continuous and smooth switching between different operation modes is realized, and the tracking error between the master end and the slave end is greatly reduced.

Description

Technical Field

[0001] This invention belongs to the field of human-computer interaction technology, and more specifically, relates to a master-slave hybrid mapping method for human-computer interaction systems and its application. Background Technology

[0002] In recent years, human-computer interaction systems, represented by teleoperation, have been widely used in fields such as telemedicine and wilderness search and rescue. By remotely controlling robots and other devices, human intelligence can be transferred to the robots, allowing them to perform dangerous or complex tasks in place of humans. In human-computer interaction systems, the master device collects the operator's commands, while the slave device executes them. To achieve efficient and precise operation of the human-computer interaction system, the workspaces of the master and slave devices need to be mapped. Common mapping methods currently include joint space mapping and operand space mapping.

[0003] Joint space mapping enables large-scale, rapid movement, but suffers from low control precision and a poor user experience. Operation space mapping enables fine-grained, small-scale operations, but its range of motion is limited, and its workspace is restricted. To address these issues, existing research proposes a hybrid mapping method that combines the advantages of both: joint space mapping for large-scale, rapid, coarse positioning operations, and operation space mapping for small-scale, slow, fine-grained operations. However, this method cannot guarantee consistency in the pose of the master and slave ends relative to the base coordinates when switching between the two mapping methods, failing to achieve smooth and continuous switching between different operation modes. This results in significant tracking errors between the master and slave ends, ultimately leading to poor practicality and user experience in the human-computer interaction system. Summary of the Invention

[0004] To address the above-mentioned deficiencies or improvement needs of existing technologies, this invention provides a master-slave hybrid mapping method for human-computer interaction systems and its application, which solves the technical problem that existing human-computer interaction systems, when balancing large-scale positioning and small-scale fine-grained operation, cannot achieve continuous and smooth switching between different operation modes, resulting in large tracking errors between the master and slave ends.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a master-slave hybrid mapping method for a human-computer interaction system, comprising: the slave end executing a corresponding mapping method according to the mode selected by the master end under different stages and specific task requirements; wherein, the mode of the human-computer interaction system includes a first mode and a second mode;

[0006] The mapping method corresponding to the first mode includes: performing the following operations on the joint angle values ​​of each axis of the master end input at each moment: performing maximum proportional mapping on the joint angle values ​​of the first three axes of the master end to obtain the joint angle values ​​of the first three axes of the slave end, and then obtaining the rotation matrix of the first three axes of the slave end; based on the consistency of the rotation matrices of the master and slave end devices, combined with the rotation matrix of the first three axes of the slave end, calculating the rotation matrix of the last three axes of the slave end, and inversely solving to obtain the joint angle values ​​of the last three axes of the slave end, thereby obtaining the mapping result of the joint angle values ​​of each axis of the slave end;

[0007] The mapping method corresponding to the second mode includes: mapping the change in the master end position from the switching point to the current time according to a preset ratio to obtain the change in the slave end position at the current time, thereby obtaining the mapping result of the slave end position at the current time; at the same time, based on the rotation matrix of the master end attitude from the switching point to the current time, performing the same rotation transformation on the slave end attitude to obtain the mapping result of the slave end attitude at the current time; wherein, the switching point is the switching point when switching from the first mode to the second mode.

[0008] More preferably, the mapping method corresponding to the first mode includes:

[0009] The joint angle values ​​of the three axes at the master end are mapped by the maximum scale to obtain the joint angle values ​​of the three axes at the slave end.

[0010] Based on the joint angle values ​​of the three axes from the left end and the DH parameter model of the three axes from the left end, the rotation matrix of the three axes from the left end is obtained through forward kinematics calculation.

[0011] Based on the consistency of the rotation matrices at the end of the master and slave devices, and combined with the rotation matrices of the first three axes of the slave device, the rotation matrices of the last three axes of the slave device are calculated.

[0012] Based on the rotation matrix of the three axes from the slave end and the DH parameter model of the three axes from the slave end, the joint angle values ​​of the three axes from the slave end are obtained by inverse kinematics, thus obtaining the mapping results of the joint angle values ​​of each axis from the slave end.

[0013] More preferably, the rotation matrix of the three axes from the end. for:

[0014]

[0015] in, This is the rotation matrix for the three axes from the start; It is the rotation matrix for all axes of the master end.

[0016] More preferably, the joint angle value of the i-th axis among the three axes at the end is... for:

[0017]

[0018] in, This represents the maximum joint angle value of the i-th axis among the three axes from the end. It represents the minimum joint angle value of the i-th axis among the three axes from the end; The maximum joint angle value of the i-th axis among the first three axes of the master end; The minimum joint angle value of the i-th axis among the first three axes of the master end; The joint angle value of the i-th axis among the three axes of the master end.

[0019] More preferably, the mapping result from the end position at the current moment is:

[0020]

[0021] in, The position of the slave end at the switching point; k is the preset scaling factor; This represents the current position of the master and slave terminals. The position of the slave end at the switching point.

[0022] More preferably, the method for obtaining the mapping result of the current end-device attitude includes: based on the consistency of the master and slave end-device rotation matrices, combined with the rotation matrix of the master end-device attitude from the switching point to the current time, calculating the rotation matrix of the slave end-device attitude from the switching point to the current time, obtaining the increment of the slave end-device attitude from the switching point to the current time, and then combined with the slave end-device attitude at the switching point to calculate the mapping result of the current end-device attitude.

[0023] More preferably, the rotation matrix of the slave end attitude from the switching point to the current time is:

[0024]

[0025] in, Let be the rotation matrix of the slave end pose at the switching point; The rotation matrix represents the pose of the master and end ends at the switching point. It is the rotation matrix of the master end pose from the switching point to the current time.

[0026] Secondly, the present invention provides a slave device that uses the master-slave hybrid mapping method provided in the first aspect of the present invention to map the state information of the master device.

[0027] Thirdly, the present invention provides a human-computer interaction system, comprising: a master device, a communication device, and a slave device provided in the second aspect of the present invention.

[0028] Fourthly, the present invention provides a machine-readable storage medium storing machine-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the master-slave hybrid mapping method provided in the first aspect of the present invention.

[0029] In summary, the above-described technical solutions conceived in this invention can achieve the following beneficial effects:

[0030] 1. This invention provides a master-slave hybrid mapping method for human-computer interaction systems. The slave device executes the corresponding mapping method according to the mode selected by the master device at different stages and under specific task requirements. In the first mode, the corresponding mapping method is applied to large-scale rapid coarse positioning operation scenarios. At this time, only joint space mapping is performed. Considering that the range of motion is large in large-scale rapid coarse positioning operation scenarios, and the main factors affecting the range of motion are the front three axes, this invention obtains the joint angle values ​​of the front three axes of the slave device by performing maximum proportional mapping on the joint angle values ​​of the front three axes of the master device. This allows the front three axes of the slave device to follow the front three axes of the master device. Then, based on the consistency of the rotation matrix of the master and slave devices, combined with the rotation matrix of the front three axes of the slave device, the joint angle values ​​of the rear three axes of the slave device are obtained to ensure the consistency of the rear three axes posture of the master and slave devices. The mapping method in the second mode is applied to small-scale, slow, and precise operation scenarios. Based on the master-slave state at the switching point, it performs operation space mapping based on the end-effector position increment and simultaneously performs attitude increment operation space mapping based on the end-effector attitude increment. This invention, through the aforementioned hybrid mapping method, ensures the consistency of the master-slave three-axis pose during the slave's large-scale movement while following the master in the first mode. Furthermore, when switching to the second mode, it further ensures the consistency of pose change based on the mapping method in the second mode. This allows for both an increase in the reachability of the human-computer interaction system's workspace and the maintenance of consistent end-effector attitudes. After mode switching, it enables both precise operation under operation space mapping and continuous, smooth switching between position and attitude, thus achieving continuous and smooth switching between different operation modes and significantly reducing tracking errors between the master and slave.

[0031] 2. Considering that the attitude increment is a non-linear increment, the master-slave hybrid mapping method provided by this invention calculates the attitude mapping relationship between the master and slave ends based on the attitude increment of the rotation matrix. The rotation matrix is ​​used to represent the attitude increment of the master device, and the slave device is made to perform the same rotation transformation according to the attitude increment of the master device, so as to ensure that the transformation of the master and slave attitudes on the basis of the original attitude is consistent and the accuracy is high.

[0032] 3. The master-slave hybrid mapping method provided by this invention can be directly applied to existing human-computer interaction systems without changing the hardware architecture and transmission method of the human-computer interaction system, and has strong compatibility. Attached Figure Description

[0033] Figure 1 This is a flowchart of the master-slave hybrid mapping method for a human-computer interaction system provided in Embodiment 1 of the present invention;

[0034] Figure 2 The above are point cloud diagrams of the reachable range of the original working space of the master and slave devices provided in Embodiment 1 of the present invention; wherein, (a) is a three-dimensional point cloud diagram of the reachable range of the original working space of the master and slave devices; (b) is a point cloud diagram of the reachable range of the original working space of the master and slave devices on the XY coordinate plane of the three-dimensional point cloud diagram; (c) is a point cloud diagram of the reachable range of the original working space of the master and slave devices on the YZ coordinate plane of the three-dimensional point cloud diagram; and (d) is a point cloud diagram of the reachable range of the original working space of the master and slave devices on the XZ coordinate plane of the three-dimensional point cloud diagram.

[0035] Figure 3 The above are point cloud maps showing the reachable workspace coverage of master and slave devices after mapping using the master-slave hybrid mapping method provided by this invention; wherein, (a) is a three-dimensional point cloud map showing the reachable workspace coverage of master and slave devices after mapping using the master-slave hybrid mapping method provided by this invention; (b) is a point cloud map showing the reachable workspace coverage of master and slave devices in the XY coordinate plane of the three-dimensional point cloud map after mapping using the master-slave hybrid mapping method provided by this invention; (c) is a point cloud map showing the reachable workspace coverage of master and slave devices in the YZ coordinate plane of the three-dimensional point cloud map after mapping using the master-slave hybrid mapping method provided by this invention; and (d) is a point cloud map showing the reachable workspace coverage of master and slave devices in the XZ coordinate plane of the three-dimensional point cloud map after mapping using the master-slave hybrid mapping method provided by this invention.

[0036] Figure 4 This is a master-slave device end position tracking curve obtained after using the master-slave hybrid mapping method provided by the present invention. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0038] Example 1

[0039] A master-slave hybrid mapping method for human-computer interaction systems, such as Figure 1 As shown, the process includes: the slave end executing a corresponding mapping method based on the mode selected by the master end at different stages and under specific task requirements; wherein, the human-computer interaction system modes include a first mode and a second mode; specifically, the master end (operator) selects the corresponding operation mode according to task requirements. When the master end selects the first mode, a large-scale, rapid, coarse positioning operation is performed, and the real-time acquired master end status information includes the joint angle values ​​of each axis of the master end; when the master end selects the second mode, a small-scale, slow, fine operation is performed, and the real-time acquired master end status information includes the position and attitude of the end effector of the master end. It should be noted that in the master and slave devices, the six axes corresponding to their base to the end effector are axis 1 to axis 6. The first three axes are the first three joints counting from the base, i.e., axis 1 to axis 3; the last three axes are the last three joints counting from the base, i.e., axis 4 to axis 6. In this embodiment, the master end uses the Geomagic Touch six-axis force feedback device, the slave end uses the UR3 robotic arm, and the communication method between the master and slave ends is wired or Wi-Fi.

[0040] The mapping method corresponding to the first mode includes: performing the following operations on the joint angle values ​​of each axis of the master end input at each moment: performing maximum proportional mapping on the joint angle values ​​of the first three axes of the master end to obtain the joint angle values ​​of the first three axes of the slave end, and then obtaining the rotation matrix of the first three axes of the slave end; based on the consistency of the rotation matrices of the master and slave end devices, combined with the rotation matrix of the first three axes of the slave end, calculating the rotation matrix of the last three axes of the slave end, and inversely solving to obtain the joint angle values ​​of the last three axes of the slave end, thereby obtaining the mapping result of the joint angle values ​​of each axis of the slave end;

[0041] The mapping method corresponding to the second mode includes: mapping the change in the master end position from the switching point to the current time according to a preset ratio to obtain the change in the slave end position at the current time, thereby obtaining the mapping result of the slave end position at the current time; simultaneously, based on the rotation matrix of the master end attitude from the switching point to the current time, performing the same rotation transformation on the slave end attitude to obtain the mapping result of the slave end attitude at the current time; wherein, the switching point is the switching point when switching from the first mode to the second mode. In this embodiment, the specific value of the above-mentioned preset ratio can be set according to the movement range of the master and slave devices and the range requirements of the current task. For example, if the master device can move within 0-10 cm, and the slave device we need to move within 0-10 cm, then an equal-ratio mapping can be set, that is, the above-mentioned preset ratio is 1; if the movement range of the master device is only 0-5 cm, but the slave needs to move within 0-10 cm, then the ratio can be set to 1:2, that is, the above-mentioned preset ratio is 0.5.

[0042] In one optional implementation, the mapping method (corresponding to joint space mapping) in the first mode includes:

[0043] 1) Perform maximum proportional mapping on the joint angle values ​​of the three axes of the master end to obtain the joint angle values ​​of the three axes of the slave end;

[0044] Specifically, from the joint angle value of the i-th axis among the three axes at the end. for:

[0045]

[0046] in, This represents the maximum joint angle value of the i-th axis among the three axes from the end. It represents the minimum joint angle value of the i-th axis among the three axes from the end; The maximum joint angle value of the i-th axis among the first three axes of the master end; The minimum joint angle value of the i-th axis among the first three axes of the master end; The joint angle value of the i-th axis among the three axes of the master end.

[0047] It should be noted that the joint angle values ​​of each axis of the master end are read at the current moment: And the corresponding homogeneous transformation matrix of the principal ends is calculated. Among them, the joint angle values ​​of the three axes at the main end are: After performing joint space mapping using the above maximum proportion mapping method, the joint angle values ​​for the three axes from the front end are obtained as follows:

[0048] 2) Based on the joint angle values ​​of the three axes from the end The rotation matrices of the three axes from the slave end are obtained through forward kinematics calculations, based on the DH parameter model of the three axes from the slave end.

[0049] 3) Based on the consistency of the rotation matrices at the master and slave ends, and combined with the rotation matrices of the first three axes of the slave end, the rotation matrices of the last three axes of the slave end are calculated.

[0050] Specifically, the rotation matrix of the three axes from the end. for:

[0051]

[0052] in, This is the rotation matrix for the three axes from the start; Given the rotation matrix for all axes of the master axis, and based on the homogeneous transformation matrix of the master axis... get;

[0053] 3) Rotation matrix based on the three axes of the slave end Using the DH parameter model of the three axes from the left and right ends, the joint angle values ​​of the three axes from the left and right ends are obtained through inverse kinematics. Thus, the mapping results of the joint angle values ​​of each axis at the end are obtained by combining the results.

[0054] The subsequent mapping result Q of the joint angle values ​​of each axis of the slave end can be used as a basis. slave Control the slave device.

[0055] This invention takes into account that in large-scale, rapid, and coarse positioning operation scenarios, the range of motion is large, and the main factors affecting the range of motion are the first three axes. Therefore, this invention obtains the joint angle values ​​of the first three axes of the slave end by performing maximum proportional mapping on the joint angle values ​​of the first three axes of the master end. This allows the first three axes of the slave end to flexibly follow the first three axes of the master end in movement. Then, based on the joint angle values ​​of the first three axes of the slave end, the attitude of its last three axes is calculated in real time, keeping the six axes of the master end able to move freely, and ensuring that the attitude of the last three axes of the slave end is consistent with that of the last three axes of the master end in real time. This ensures the consistency of the attitude of the last three axes of the master and slave ends, which serves as the basis for the master and slave end states during subsequent mode switching.

[0056] In one optional implementation, the mapping method corresponding to the second mode includes: end-to-end position mapping and end-to-end pose mapping;

[0057] The specific process of performing end-to-end position mapping includes:

[0058] At the switching point, read the position of the master end. and from end position

[0059] After mode switching, the master end position at the current mapping time is read, and the mapping result of the slave end position at the current time is calculated as follows:

[0060]

[0061] in, is the end position of the slave at the switching point; k is a preset scaling factor, the value of which is determined according to the actual movement range of the master and slave ends and the usage requirements. In this embodiment, k is set to 2. This represents the current position of the master and slave terminals. The position of the slave end at the switching point.

[0062] The specific process of performing slave end-effector pose mapping includes: based on the consistency of the master and slave end-effector rotation matrices, and combining the rotation matrix of the master end-effector pose from the switching point to the current time, calculating the rotation matrix of the slave end-effector pose from the switching point to the current time, obtaining the increment of the slave end-effector pose from the switching point to the current time, and then combining the slave end-effector pose at the switching point to calculate the mapping result of the slave end-effector pose at the current time. The rotation matrix of the slave end-effector pose from the switching point to the current time is:

[0063]

[0064] in, Let be the rotation matrix of the slave end pose at the switching point; The rotation matrix represents the pose of the master and end ends at the switching point. It is the rotation matrix of the master end pose from the switching point to the current time.

[0065] It should be noted that attitude increment is different from position increment. Attitude increment is a non-linear increment. In the above process, the present invention calculates the attitude mapping relationship between the master and slave ends based on the attitude increment of the rotation matrix. It is necessary to use the rotation matrix to represent the attitude increment of the master device and make the slave device perform the same rotation transformation according to the attitude increment of the master device to ensure that the transformation of the master and slave ends on the basis of the original attitude is consistent.

[0066] To ensure smooth switching between different modes, in the first mode, based on the proposed improved joint mapping method, the consistency of the three-axis pose of the master and slave ends can be ensured through real-time calculation, so that the state of the master and slave ends is basically consistent at the switching point. On this basis, in the second mode, incremental operation space mapping is adopted to further ensure that the change in pose is the same. Under the combined effect of the two, continuous and smooth switching of modes is achieved.

[0067] To further illustrate the performance of the master-slave hybrid mapping method provided by this invention, the following explanation is provided:

[0068] Specifically, the point cloud diagrams of the original working space reachable range of the master and slave devices are shown in Figure 2. The outer circular area in the figure represents the working space reachable range of the slave device itself, and the inner fan-shaped area represents the working space reachable range of the master device itself. Figure (a) is a 3D point cloud diagram of the original working space reachable range of the master and slave devices; Figure (b) is a point cloud diagram of the original working space reachable range of the master and slave devices in the XY coordinate plane of the 3D point cloud diagram; Figure (c) is a point cloud diagram of the original working space reachable range of the master and slave devices in the YZ coordinate plane of the 3D point cloud diagram; and Figure (d) is a point cloud diagram of the original working space reachable range of the master and slave devices in the XZ coordinate plane of the 3D point cloud diagram. Figure 2It can be seen that the original reachable working space ranges of the master and slave devices differ significantly. However, after mapping using the master-slave hybrid mapping method provided by this invention, the point cloud map showing the reachable working space coverage of the master and slave devices is as follows: Figure 3 As shown, Figure (a) is a 3D point cloud diagram of the reachable range of the master-slave device's workspace after mapping using the master-slave hybrid mapping method provided by this invention; Figure (b) is a point cloud diagram of the reachable range of the master-slave device's workspace on the XY coordinate plane in the 3D point cloud diagram after mapping using the master-slave hybrid mapping method provided by this invention; Figure (c) is a point cloud diagram of the reachable range of the master-slave device's workspace on the YZ coordinate plane in the 3D point cloud diagram after mapping using the master-slave hybrid mapping method provided by this invention; Figure (d) is a point cloud diagram of the reachable range of the master-slave device's workspace on the XZ coordinate plane in the 3D point cloud diagram after mapping using the master-slave hybrid mapping method provided by this invention. Figure 3 It can be seen that after mapping, the master-slave hybrid mapping method provided by the present invention has a basically consistent working space coverage of the master and slave ends. This shows that the master-slave hybrid mapping method provided by the present invention can improve the working space coverage of the master and slave ends after mapping.

[0069] Furthermore, such as Figure 4 The figure shown is a master-slave device end-position tracking curve obtained after using the master-slave hybrid mapping method provided by this invention. Figure 4 It can be seen that after adopting the master-slave hybrid mapping method provided by this invention, the tracking error between the master and slave ends is relatively small. Figure 4 As can be seen, during the movement from the negative X-axis to the positive X-axis, the first operation mode is used, which employs the improved joint space mapping corresponding to the first operation mode, achieving a large-range, rapid movement operation. Subsequently, the system switches to the second operation mode. Since this mode uses incremental operation space mapping, its purpose is slow and refined operation, resulting in more consistent changes between the master and slave ends in position tracking. Furthermore, there are no abrupt changes or jumps in position when switching between the two modes, demonstrating that this invention achieves continuous and smooth switching with a small overall tracking error.

[0070] In summary, the master-slave hybrid mapping method provided by this invention allows the slave device to execute the corresponding mapping method based on the mode selected by the master device at different stages and under specific task requirements. Specifically, the mapping method in the first mode ensures that the human-computer interaction system maintains consistent posture between the master and slave devices while performing large-scale operations. The mapping method in the second mode ensures that the human-computer interaction system can achieve both refined operations and smooth, continuous switching between position and posture. Overall, the master-slave hybrid mapping method proposed in this invention solves the shortcomings of existing solutions in achieving smooth, continuous switching. While balancing large-scale positioning and refined operations, it achieves smooth, continuous operation when switching between different motion states, significantly improving the user experience.

[0071] Example 2

[0072] A slave device uses the master-slave hybrid mapping method provided in Embodiment 1 of the present invention to map the state information of the master device.

[0073] The relevant technical solutions are the same as in Embodiment 1, and will not be repeated here.

[0074] Example 3

[0075] A human-computer interaction system includes: a master device, a communication device, and a slave device provided in Embodiment 2 of the present invention.

[0076] Among them, the master device is used to record the motion trajectory of the device end and use the sampled motion trajectory as the input signal of the human-computer interaction system;

[0077] The slave device is used to receive input signals from the master device, and uses the master-slave hybrid mapping method provided in Embodiment 1 of the present invention to map the state information of the master device, control the slave device based on the mapping result, and record the real-time motion trajectory of the slave device as the output signal of the human-computer interaction system.

[0078] Communication equipment is used for information exchange between master and slave devices;

[0079] The relevant technical solutions are the same as those in Embodiments 1 and 2, and will not be repeated here.

[0080] Example 4

[0081] A machine-readable storage medium stores machine-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the master-slave hybrid mapping method provided in Embodiment 1 of the present invention.

[0082] The relevant technical solutions are the same as in Embodiment 1, and will not be repeated here.

[0083] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A master-slave hybrid mapping method for a human-computer interaction system, characterized in that, include: The slave device executes the corresponding mapping method based on the mode selected by the master device at different stages and under specific task requirements. The human-computer interaction system includes a first mode and a second mode. The mapping method corresponding to the first mode includes: performing the following operations on the joint angle values ​​of each axis of the master end input at each moment: performing maximum proportional mapping on the joint angle values ​​of the first three axes of the master end to obtain the joint angle values ​​of the first three axes of the slave end, and then obtaining the rotation matrix of the first three axes of the slave end; based on the consistency of the rotation matrices of the master and slave end devices, combined with the rotation matrix of the first three axes of the slave end, calculating the rotation matrix of the last three axes of the slave end, and inversely solving to obtain the joint angle values ​​of the last three axes of the slave end, thereby obtaining the mapping result of the joint angle values ​​of each axis of the slave end; The mapping method corresponding to the second mode includes: mapping the change in the master end position from the switching point to the current time according to a preset ratio to obtain the change in the slave end position at the current time, thereby obtaining the mapping result of the slave end position at the current time; at the same time, based on the rotation matrix of the master end attitude from the switching point to the current time, performing the same rotation transformation on the slave end attitude to obtain the mapping result of the slave end attitude at the current time; wherein, the switching point is the switching point when switching from the first mode to the second mode.

2. The master-slave hybrid mapping method of claim 1, wherein, The mapping methods corresponding to the first mode include: The joint angle values ​​of the three axes at the master end are mapped by the maximum scale to obtain the joint angle values ​​of the three axes at the slave end. Based on the joint angle values ​​of the three axes from the slave end and the DH parameter model of the three axes from the slave end, the rotation matrix of the three axes from the slave end is obtained through forward kinematics calculation. Based on the consistency of the rotation matrices at the ends of the master and slave devices, and combined with the rotation matrices of the first three axes of the slave device, the rotation matrices of the last three axes of the slave device are calculated. Based on the rotation matrix of the three axes of the slave end and the DH parameter model of the three axes of the slave end, the joint angle values ​​of the three axes of the slave end are obtained by inverse kinematics, thereby obtaining the mapping results of the joint angle values ​​of each axis of the slave end.

3. The master-slave hybrid mapping method according to claim 1 or 2, characterized in that, The rotation matrix of the rear three axes from the end is: wherein, is the rotation matrix from the end three axes; is the rotation matrix for all axes of the master end.

4. The master-slave hybrid mapping method according to claim 1 or 2, characterized in that, From the joint angle value of the i-th axis in the end-effector front three axes is: in, This represents the maximum joint angle value of the i-th axis among the three axes from the end. It represents the minimum joint angle value of the i-th axis among the three axes from the end; The maximum joint angle value of the i-th axis among the first three axes of the master end; The minimum joint angle value of the i-th axis among the first three axes of the master end; The joint angle value of the i-th axis among the three axes of the master end.

5. The master-slave hybrid mapping method according to claim 1, characterized in that, The mapping result of the current end position is as follows: in, The position of the slave end at the switching point; k is the preset scaling factor; This represents the current position of the master and slave terminals. The position of the slave end at the switching point.

6. The master-slave hybrid mapping method of claim 1, wherein, The method for obtaining the mapping result of the current end-device attitude includes: based on the consistency of the master and slave end-device rotation matrices, combined with the rotation matrix of the master end-device attitude from the switching point to the current time, calculating the rotation matrix of the slave end-device attitude from the switching point to the current time, obtaining the increment of the slave end-device attitude from the switching point to the current time, and then combined with the slave end-device attitude at the switching point to calculate the mapping result of the current end-device attitude.

7. The master-slave hybrid mapping method of claim 6, wherein, The rotation matrix of the slave end attitude from the switching point to the current time is: wherein, Rsf is the rotation matrix of the slave end pose at the switching point instant; Rpf is the rotation matrix of the primary end pose at the switching point instant; Rpf is the rotation matrix of the primary end pose at the switching point instant; 8. A terminal device, comprising: The master-slave hybrid mapping method according to any one of claims 1-7 is used to map the status information of the master device.

9. A human-machine interaction system, characterized by include: The master device, the communication device, and the slave device as described in claim 8.

10. A machine-readable storage medium, characterized in that, The machine readable storage medium stores machine executable instructions that, when invoked and executed by a processor, cause the processor to implement the master-slave hybrid mapping method of any one of claims 1-7.

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