Pose-based Robot Remote Control Method and Its System, Storage Medium, and Electronic Device

Abstract

The present application discloses a robot remote control method and its system, storage medium and electronic device based on pose. The robot remote control method includes: the robot sends the current pose information of the robot to the remote control terminal; receives a control instruction from the remote control terminal, where the control instruction is periodically generated by the remote control terminal in the manner of a periodic pulse command, and the control instruction includes the current pose information of the robot received by the remote control terminal; generates an action offset range based on the current pose information; and executes a control action corresponding to the control instruction within the action offset range.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a posture-based robot remote control method and its system, storage medium, and electronic equipment. Background Art

[0002] With the rapid development of national scientific and technological innovation and high-end manufacturing, the robotics industry has gradually developed into all areas of people's lives, and different types of intelligent robots can already replace humans in various tasks.

[0003] Robots often need to accept remote real-time control from operators in complex network environments (such as hybrid networks including WLAN and LAN) to complete corresponding actions (such as moving forward or backward).

[0004] However, the inventors of this application have discovered that current remote control of robots is limited by the stability of complex network environments and the reliability of the functional modules involved in remote control. When the network environment or functional modules fail, the real-time and accurate delivery of control commands and feedback from the robot cannot be guaranteed. The robot will continue to execute actions based on previous control commands, which may cause the robot to perform unexpected actions and affect its safe and reliable operation. Summary of the Invention

[0005] In one aspect of the present application, a posture-based robot remote control method is proposed, which includes: the robot sending the robot's current posture information to the remote control terminal; receiving control instructions from the remote control terminal, the control instructions are periodically generated by the remote control terminal in the form of periodic pulse commands, and the control instructions include the robot's current posture information received by the remote control terminal; generating an action offset range based on the current posture information; and executing a control action corresponding to the control instruction within the action offset range.

[0006] According to some embodiments of the present application, the control instruction is periodically generated by the remote control terminal in the form of a periodic pulse command, including: the remote control terminal generates an uncontrolled command after a preset threshold number of times.

[0007] If the return confirmation information of the control instruction is not received, the generation of the control instruction is stopped.

[0008] According to some embodiments of the present application, generating an action offset range based on the current posture information includes: determining the maximum offset of the offset parameter in a preset coordinate system with the posture information as the control base point; determining the action offset range based on the maximum offset; wherein the preset coordinate system includes the robot body base coordinate, the earth coordinate system or the user coordinate system.

[0009] According to some embodiments of the present application, the offset parameter includes a coordinate offset and an angular offset.

[0010] According to some embodiments of the present application, the calculation formula for the maximum offset is: Offset = vt, where Offset is the maximum offset, v is the movement speed of the robot, and t is the period time of the periodic pulse command.

[0011] According to some embodiments of the present application, the control instruction further includes a maximum offset; performing a control action corresponding to the control instruction within the action offset range includes: performing a control action corresponding to the control instruction according to the maximum offset.

[0012] According to some embodiments of the present application, performing a control action corresponding to the control instruction within the action offset range includes: performing a control action corresponding to the control instruction according to the maximum offset and a preset motion safety policy; the preset motion safety policy at least includes a robot electronic fence policy and a robot vision anti-collision policy.

[0013] According to another aspect of the present application, a robot remote control system based on pose is proposed. The robot remote control system based on pose includes a robot, a remote control terminal, and a remote communication network; the robot sends the current pose information of the robot to the remote control terminal and receives a control instruction from the remote control terminal through the remote communication network. The control instruction is periodically generated by the remote control terminal in the form of a periodic pulse command, and the control instruction includes the current pose information of the robot received by the remote control terminal; the robot generates an action offset range based on the current pose information and performs a control action corresponding to the control instruction within the action offset range.

[0014] According to still another aspect of the present application, a non-volatile computer-readable storage medium is further provided. The storage medium stores a computer program, and the computer program can implement the robot remote control method as described above.

[0015] According to still another aspect of the present application, an electronic device is further provided. The electronic device includes one or more processors and a storage device, and the storage device is used to store one or more

[0016] programs. When the one or more programs are executed by the one or more processors, the one or more processors can implement the robot remote control method as described above.

[0017] This application enables a robot to send the current pose information of the robot to a remote control terminal and receive control instructions from the remote control terminal. The control instructions are periodically generated by the remote control terminal in the form of periodic pulse commands, and the control instructions include the current pose information of the robot received by the remote control terminal. In addition, the robot generates an action offset range based on the current pose information and executes a control action corresponding to the control instructions within the action offset range.

[0018] This application can receive the pose information of the robot in real time, and through interactive and control logic operations based on the pose information, control the action range of the robot within the expected range. In this way, it is possible to avoid problems such as blocked and delayed control instructions caused by failures in complex network environments, which may lead to actions of the robot exceeding expectations, thereby ensuring that the robot can execute corresponding actions safely and reliably according to the control instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 Schematic diagram showing a robot remote control system according to an exemplary embodiment of this application;

[0021] Figure 2 Flowchart showing a robot remote control method according to an exemplary embodiment of this application;

[0022] Figure 3 Schematic diagram showing a control base point according to an exemplary embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. Identical reference numerals in the figures denote identical or similar parts, and thus their repeated description will be omitted.

[0024] The described features, structures, or characteristics can be combined in any suitable manner in one or

[0025] In more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present disclosure. However, those skilled in the art will realize that the technical solutions of the present disclosure can be practiced without one or more of these specific details, or other means, components, materials, devices, etc. can be adopted. In these cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.

[0026] In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0027] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order.

[0028] The technical solutions of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of this application.

[0029] According to one aspect of this application, this application proposes a robot remote control method based on pose. This robot remote control method can receive the pose information of the robot in real time, and based on the pose information, through interactive and control logic operations, control the action range of the robot within the expected range. In this way, it can avoid the problem that the robot's actions exceed expectations caused by the blocking and delay of control instructions due to the failure of a complex network environment, so as to ensure that the robot can execute corresponding actions safely and reliably according to the control instructions.

[0030] The following will describe this application in detail in conjunction with the drawings in the specification.

[0031] The robot remote control method provided by this application is implemented based on a robot remote control system. Figure 1 The schematic diagram of the robot remote control system showing the exemplary embodiments of this application. As Figure 1 shown, the robot remote control system includes a robot, a remote control terminal, and a remote communication network. The robot and the remote control terminal interact with the robot feedback information (such as the pose information shown in Figure 1 ) and control instructions through the remote communication network.

[0032] Figure 2 A flowchart showing a robot remote control method according to an exemplary embodiment of the present application,

[0033] As Figure 2 shown, the robot remote control method includes steps S100 - S400.

[0034] In step S100, the robot sends the current pose information of the robot to the remote control terminal.

[0035] In step S200, the robot receives a control instruction from the remote control terminal. The control instruction is periodically generated by the remote control terminal in the manner of a periodic pulse command, and the control instruction includes the current pose information of the robot received by the remote control terminal.

[0036] According to the exemplary embodiment, the robot sends the current pose information of the robot to the remote control terminal in real time, and after the remote control terminal bases on the current pose information of the robot, it generates a control instruction. The current pose information of the robot includes all relevant pose information that needs to be remotely controlled in real time, such as the pose and attitude angle information of the robot.

[0037] According to the exemplary embodiment, the remote control terminal issues a control instruction to the robot in the manner of a periodic pulse command. For example, the remote control terminal can periodically send a control instruction every preset cycle time (such as 2s) so that the robot receives and executes corresponding actions within this cycle time. When the robot does not receive a control instruction within a certain threshold time, it stops executing actions and maintains its current pose until it receives the next control instruction.

[0038] Optionally, in step S200, when the remote control terminal does not receive a return confirmation message of the control instruction for a preset threshold number of times, it stops generating the control instruction.

[0039] For example, when the remote control terminal sends a control instruction to the robot, the communication connection application layer of the remote communication network connecting the robot and the remote control terminal returns a confirmation message of the control instruction. When the control instruction has no return confirmation message for multiple times (such as when the preset threshold number is configured to 3 times), the remote control terminal determines that the communication connection application layer terminal of the remote communication network, that is, the remote communication network has a fault, then the remote control terminal stops issuing the control instruction, so as to ensure the real - time nature of the control instruction issuance.

[0040] In step S300, the robot generates an action offset range based on the current pose information.

[0041] Optionally, in step S300, the robot takes the pose information as the control base point in a preset coordinate system, determines the maximum offset of the offset parameter, and determines the action offset range based on the maximum offset.

[0042] For example, Figure 3 a schematic diagram showing the control base point of an exemplary embodiment of the present application is shown. As Figure 3 shown, after the robot receives a control instruction including pose information, the robot uses the pose of the robot as the control base point in a preset coordinate system, and the maximum offset of the offset parameter set by the robot

[0043] quantity, and determines the action offset range (Offset) allowed for the robot's actions according to the maximum offset quantity.

[0044] Optionally, in step S300, the calculation formula for the maximum offset quantity is: Offset = vt. Where Offset is the maximum offset quantity, v is the action speed of the robot, and t is the cycle time of the periodic pulse command. Such a setting can improve the operation efficiency of the robot in different action speed environments and enable the robot to effectively execute control instructions.

[0045] Optionally, in step S300, the offset parameter includes a coordinate offset and an angle offset.

[0046] The pose information of the robot includes various relevant pose information that needs to be remotely and real-time controlled, such as coordinate information or angle information of the deflection angle. The maximum offset quantity is the maximum action value allowed for the offset parameter and the pose information related to the remote control of the robot during each robot manipulation.

[0047] In step S400, the robot executes a control action corresponding to the control instruction within the action offset range.

[0048] According to the exemplary embodiment, the control instruction sent by the remote control terminal to the robot includes the current pose information of the robot. The robot generates an action offset range based on the current pose information, that is, the action operation of the robot will not exceed the action offset range. The robot uses the pose information as the control base point in a preset coordinate system and executes the control actions (such as forward, backward, or turning) corresponding to the control instructions (such as forward instruction, backward instruction, or turning instruction, etc.) within the action offset range. During the process of continuously receiving new control instructions, the robot continuously generates new control base points based on the received pose information and completes continuous control actions.

[0049] According to the exemplary embodiment, the preset coordinate system includes but is not limited to the robot body base coordinate, the earth coordinate system, or the user coordinate system, and the present application does not limit this.

[0050] Optionally, the control instruction further includes the maximum offset quantity. In step S400, the robot executes a control action corresponding to the control instruction according to the maximum offset quantity.

[0051] For example, the control instruction sent by the remote control terminal to the robot includes the maximum offset of the offset parameter. When the robot receives the control instruction, it takes the maximum offset as the action reference and completes the control actions (such as forward, backward, or turning) corresponding to the control instruction (such as forward instruction, backward instruction, or turning instruction, etc.).

[0052] Optionally, in step S400, the robot executes the control action corresponding to the control instruction according to the maximum offset and the preset motion safety strategy. The preset motion safety strategy at least includes

[0053] the robot electronic fence strategy and the robot vision anti-collision strategy.

[0054] For example, in some embodiments, the robot can also complete the remote control of the robot within the allowable action offset range of the robot by combining the maximum offset in each control instruction and other motion safety strategies pre-owned by the robot. The motion safety strategy includes but is not limited to the robot electronic fence strategy and the robot vision anti-collision strategy, and the present application does not limit this.

[0055] Through the above exemplary embodiments, the present application can receive the pose information of the robot in real time, and based on the pose information, through interactive and control logic operations, can control the action range of the robot within the expected range, and can avoid the problem that the robot action exceeds the expectation due to the blockage and delay of the control instruction caused by the failure of the complex network environment, ensuring that the robot can execute the corresponding actions safely and reliably according to the control instruction.

[0056] For example, taking the delay of the robot information feedback caused by the failure of the complex network environment as an example, in the case of the delay of the robot information feedback, the current pose information fed back by the robot may be inconsistent with the actual pose information of the robot. For example, the actual pose information of the robot is moving forward 10 meters, but due to the signal delay, the current pose information fed back by the robot to the control terminal may be moving forward 5 meters. In this case, the remote control terminal cannot master the actual pose information of the robot and cannot avoid the problem that the robot action exceeds the expectation.

[0057] In the present application, the remote control terminal sends control instructions to the robot in the form of periodic pulse commands, which can avoid the problem that the commonly used start-stop command mode cannot control the robot to stop in time when the communication network or the robot fails, resulting in unexpected actions.

[0058] In addition, in the present application, the pose information fed back by the robot in real time is used as the control basis point to control the movement range of the robot within the expected range. Moreover, by means of periodic pulse commands, when the robot receives the next control instruction, the control basis point and the movement offset range are updated, so that the robot can be controlled within the expected effect even in a complex network environment, ensuring the safe and reliable operation of the robot.

[0059] According to another aspect of the present application, a robot remote control system based on pose is also provided. As Figure 1 shown, the robot remote control system includes a robot, a remote control terminal, and a remote communication network. The robot and the remote control terminal interact with each other through the remote communication network to

[0060] feed back robot information and control instructions.

[0061] According to the exemplary embodiment, the robot sends the current pose information of the robot to the remote control terminal and receives the control instruction from the remote control terminal through the remote communication network. The control instruction is periodically generated by the remote control terminal in the form of periodic pulse commands, and the control instruction includes the current pose information of the robot received by the remote control terminal.

[0062] According to the exemplary embodiment, the robot generates an action offset range based on the current pose information and executes a control action corresponding to the control instruction within the action offset range.

[0063] The above-mentioned robot remote control method is implemented based on this robot remote control system, so the control method of the robot remote control system will not be described in detail here.

[0064] According to still another aspect of the present application, a non-volatile computer-readable storage medium is also provided. The storage medium stores a computer program, and the computer program can implement the robot remote control method as described above.

[0065] According to still another aspect of the present application, an electronic device is also provided. The electronic device includes one or more processors and a storage device. The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors can implement the robot remote control method as described above.

[0066] Finally, it should be noted that the above are only preferred embodiments of the present application and are not used to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions of the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A robot remote control method based on pose, comprising: The robot sends the current pose information of the robot to the remote control terminal; Receiving a control instruction from the remote control terminal, the control instruction is periodically generated by the remote control terminal in the manner of a periodic pulse command, and the control instruction includes the current pose information of the robot received by the remote control terminal; Generating an action offset range based on the current pose information; Performing a control action corresponding to the control instruction within the action offset range; Wherein, the remote control terminal periodically sends the control instruction every preset cycle time, so that the robot receives and performs corresponding actions within this cycle time; when the robot does not receive the control instruction within a certain threshold time, it stops performing actions and maintains the current pose until it receives the next control instruction; The generating an action offset range based on the current pose information includes: Taking the pose information as a control base point in a preset coordinate system to determine the maximum offset of the offset parameter; Determining the action offset range based on the maximum offset; Wherein, the preset coordinate system includes the robot body base coordinate, the earth coordinate system or the user coordinate system.

2. The robot remote control method according to claim 1, wherein, The control instruction being periodically generated by the remote control terminal in the manner of a periodic pulse command includes: The remote control terminal stops generating the control instruction when there is no return confirmation information of the control instruction for a preset threshold number of times.

3. The robot remote control method according to claim 1, wherein, The offset parameter includes a coordinate offset and an angular offset.

4. The robot remote control method according to claim 1, wherein, The calculation formula of the maximum offset is: Offset = vt Wherein, Offset is the maximum offset, v is the action speed of the robot, and t is the cycle time of the periodic pulse command.

5. The robot remote control method according to claim 1, wherein, The control instruction further includes the maximum offset; The performing a control action corresponding to the control instruction within the action offset range includes: Performing a control action corresponding to the control instruction according to the maximum offset.

6. The robot remote control method according to claim 5, wherein, The performing a control action corresponding to the control instruction within the action offset range includes: Performing a control action corresponding to the control instruction according to the maximum offset and a preset motion safety strategy; The preset motion safety strategy at least includes a robot electronic fence strategy and a robot vision anti-collision strategy.

7. A robot remote control system based on pose, comprising a robot, a remote control terminal and a remote communication network; The robot sends the current pose information of the robot to the remote control terminal, and receives a control instruction from the remote control terminal through the remote communication network, the control instruction is periodically generated by the remote control terminal in the manner of a periodic pulse command, and the control instruction includes the current pose information of the robot received by the remote control terminal; The robot generates an action offset range based on the current pose information, and performs a control action corresponding to the control instruction within the action offset range; Among them, The remote control terminal periodically sends the control instruction at each preset cycle time, so that the robot receives and executes corresponding actions within this cycle time; when the robot does not receive the control instruction within a certain threshold time, it stops executing actions and maintains its current pose until it receives the next control instruction. The robot uses the pose information as the control reference point in a preset coordinate system to determine the maximum offset of the offset parameter, and determines the action offset range based on the maximum offset. The preset coordinate system includes the robot body base coordinate, the earth coordinate system or the user coordinate system.

8. A non-volatile computer-readable storage medium having a computer program stored thereon, wherein, The computer program enables the robot remote control system based on pose to implement the robot remote control method as described in any one of claims 1 to 6.

9. An electronic device, wherein, Comprising: One or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the robot remote control method as described in any one of claims 1 to 6.

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