A teleoperation controller for a mobile manipulator

Abstract

A teleoperation controller for a mobile manipulator belongs to the technical field of human-computer interaction. The present invention aims to solve the problems of inflexible control, poor scalability and universality existing in existing teleoperation controllers. It adopts a distributed control structure, where the mobile platform, manipulator, dexterous hand and other peripheral mechanisms are controlled by independent sub-controllers, and data communication is carried out with the main controller through the CAN bus; it also includes a program update module and an extended function module; the program update module is used to achieve compatibility with wheeled and tracked mobile platforms and manipulators with less than seven axes by protocol conversion and configuration of peripheral parameters; the extended function module is used to control the peripheral mechanisms added to the mobile manipulator subsequently. The present invention is used for teleoperation.

Description

Technical Field

[0001] The present invention relates to a teleoperation controller for a mobile manipulator, belonging to the technical field of human-computer interaction. Background Art

[0002] Teleoperation refers to long-distance human-computer interaction. Teleoperation expands human perception and behavior capabilities, involves the interaction between humans and distal execution mechanisms and their environments, and is an important branch of robot control applications.

[0003] Patent CN114918938A discloses a teleoperation controller for a dual-arm robot for nuclear facility decommissioning, which can control the robot to complete tasks such as movement and pipeline demolition. Its advantages are intuitive and reliable, but the disadvantages are that it can only control the mobile platform and the end of the manipulator through two three-axis operation handles, the operation mode is relatively single, and the subsequent expansion function ability and versatility of the teleoperator are insufficient.

[0004] Therefore, from the perspective of practical applications, a teleoperation controller that can generally control most mobile operation arm robots and has strong function expansion ability is an urgent problem to be solved. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems of inflexible control, poor expandability and versatility existing in the existing teleoperation controller, and provide a teleoperation controller for a mobile manipulator.

[0006] The teleoperation controller for a mobile manipulator of the present invention adopts a distributed control structure, controls the mobile platform, manipulator, dexterous hand and other peripheral mechanisms with independent sub-controllers, and conducts data communication with the main controller through the CAN bus;

[0007] It also includes a program update module and an extended function module;

[0008] The program update module is used to achieve compatibility with wheeled and tracked mobile platforms and manipulators with less than seven axes by protocol conversion and configuration of peripheral parameters;

[0009] The extended function module is used to control the peripheral mechanisms added to the mobile manipulator later.

[0010] Preferably, it also includes a video image display module;

[0011] The video image display module is used to display the video images collected by the mobile manipulator in real time. When the collected video images are multiple images, multi-camera split screen or single-camera display is adopted.

[0012] Preferably, it also includes a status display module;

[0013] The state display module is used to display in real time the state information collected by various sensors on the mobile platform, the robotic arm, and the robot, including the running speed of the mobile platform, the angles of each joint of the robotic arm, the distances of obstacles around the robot, the temperatures of important components of the robot, and the battery information of the robot.

[0014] Preferably, the robotic arm control module includes a mobile platform control area, a single joint control area of the robotic arm, an end pose control area of the robotic arm, a dexterous hand control area, and a mast pan-tilt camera control area;

[0015] The mobile platform control area is used to control the movement of the mobile platform;

[0016] The single joint control area of the robotic arm is used to control the movement of a single joint of the seven-degree-of-freedom robotic arm;

[0017] The end pose control area of the robotic arm is used to control the pose of the end of the robotic arm;

[0018] The dexterous hand control area is used to control the torque, motion mode, hand claw opening and closing, and finger angles of the dexterous hand;

[0019] The mast pan-tilt camera control area is used to control the lifting, rotation, and zooming of the pan-tilt camera.

[0020] Preferably, the mobile platform control area includes a sub-controller, a three-axis analog joystick, and a multiplex switch;

[0021] The sub-controller acquires the state information of the three-axis analog joystick and the multiplex switch through analog quantity and I / O status acquisition, and sends it to the main controller through the CAN bus;

[0022] The multiplex switch is used to realize the switching between the joystick control of the mobile platform and the end position of the robotic arm;

[0023] When the multiplex switch is in the mobile platform position, the three-axis analog joystick can control the mobile platform to achieve a straight-line motion mode, an arbitrary radius turning motion mode, and a stationary rotation motion mode.

[0024] Preferably, the single joint control area of the robotic arm includes a sub-controller, seven three-position self-resetting switches, and a speed selection knob;

[0025] The sub-controller acquires the state information of the three-position self-resetting switches and the speed selection knob through I / O status acquisition, and sends it to the main controller through the CAN bus;

[0026] The three-position self-resetting switch is used to realize the forward and reverse rotation of a single joint;

[0027] The speed selection knob is used to control the rotation speed of a single joint.

[0028] Preferably, the end pose control area of the robotic arm includes a sub-controller, two three-axis analog joysticks, and two multiplex switches;

[0029] The sub-controller acquires the status information of the three-axis analog joysticks and multiplex switches through analog and I / O status acquisition, and sends it to the main controller via the CAN bus;

[0030] The two multiplex switches are used to switch the control objects of the two three-axis analog joysticks. Multiplex switch 1 is used to switch between the mobile platform and the end position of the robotic arm, and multiplex switch 2 is used to switch between the mast camera and the end pose of the robotic arm.

[0031] When the multiplex switches are in the end position and pose of the robotic arm, the two three-axis analog joysticks are used to control the end pose and movement speed of the robotic arm.

[0032] Preferably, the dexterous hand control area includes a sub-controller, a torque selection knob, a three-position self-locking switch, and two three-position self-resetting switches;

[0033] The sub-controller acquires the status information of the torque selection knob, three-position self-locking switch, and three-position self-resetting switches through I / O status acquisition, and sends it to the main controller via the CAN bus;

[0034] The torque selection knob is used to control the maximum output torque of each finger of the dexterous hand;

[0035] The three-position self-locking switch is used to switch between the single-finger movement mode, double-finger movement mode, and three-finger movement mode of the dexterous hand;

[0036] The two three-position self-resetting switches are respectively used to control the opening and closing of the gripper and the finger angles.

[0037] Preferably, the mast pan-tilt camera control area includes a sub-controller, a three-axis analog joystick, two pan-tilt attitude control buttons, and a multiplex switch;

[0038] The sub-controller acquires the status information of the three-axis analog joystick, pan-tilt attitude control buttons, and multiplex switch through analog and I / O status acquisition, and sends it to the main controller via the CAN bus;

[0039] The multiplex switch is used to switch between the end pose of the robotic arm and the mast camera, which are the operating objects of the three-axis analog joystick;

[0040] The three-axis analog joystick is used to realize the lifting, rotation, and zooming of the mast camera;

[0041] The two pan-tilt attitude control buttons are respectively used to reset the pan-tilt camera to the front and rear.

[0042] Preferably, the speed selection knob and the torque selection knob are implemented by potentiometers;

[0043] The viewing angle switching button, the emergency stop button, and the pan-tilt attitude control button are all implemented by buttons;

[0044] The multiplexing switch, the three-position self-resetting switch, the three-position self-locking switch, and the three-position self-resetting switch are all implemented by toggle switches;

[0045] The three-axis analog joystick and the potentiometer respectively transmit signals to the sub-controller through the A / D module;

[0046] The toggle switch and the button respectively transmit signals to the sub-controller through the I / O port;

[0047] The sub-controller simultaneously collects the status information of the three-axis analog joystick, the potentiometer, the toggle switch, and the button, and communicates with the main controller through the CAN bus.

[0048] Advantages of the present invention:

[0049] 1. The control of the robotic arm and the end effector structure is more flexible: Compared with the traditional control of the end effector pose by two three-axis analog joysticks, the teleoperation controller proposed by the present invention can realize the position control and rotational speed control of a single joint through the switches and speed knobs in the single joint control area of the robotic arm, and can also control the torque of the end effector, realizing flexible position control of the working arm.

[0050] 2. Through general protocol conversion and program update, it can control multiple mobile working arms to complete different tasks. When replacing different working arms, there is no need to replace the controller, and it has strong versatility.

[0051] 3. Through the program update area, combined with multiple expansion buttons, more controller functions can be realized, such as sending commands through the buttons in the status display area, etc., and it has strong expandability.

[0052] 4. Through the manipulator multiplexing switch, fewer manipulators and buttons can be used to control the movement of components such as the mobile working platform, the robotic arm, and the camera, and the structure is compact. Description of the Drawings

[0053] Figure 1 is the principle block diagram of a teleoperation controller for a mobile robotic arm according to the present invention;

[0054] Figure 2 is the control principle block diagram of the main controller and the sub-controller in Embodiment 2 of the present invention. Detailed Embodiments

[0055] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0056] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0057] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but it is not a limitation of the present invention.

[0058] Embodiment 1:

[0059] Next, in combination with Figure 1 This embodiment will be described. The remote operation controller of a mobile manipulator described in this embodiment adopts a distributed control structure, and the mobile platform, manipulator, dexterous hand, and other peripheral mechanisms are controlled by independent sub-controllers, and data communication is performed with the main controller through the CAN bus;

[0060] It further includes a program update module and an extended function module;

[0061] The program update module is used to achieve compatibility with wheeled and tracked mobile platforms and manipulators with less than seven axes by protocol conversion and configuring peripheral parameters;

[0062] The extended function module is used to control the peripheral structures added to the mobile manipulator later, including but not limited to modular operation tools, vehicle lights, cameras, etc.

[0063] Furthermore, it further includes a video image display module;

[0064] The video image display module is used to display the video images collected by the mobile manipulator in real time. When the collected video images are multiple images, multi-camera split screen or single-camera display can be used.

[0065] Still further, it further includes a status display module;

[0066] The status display module is used to display the status information collected by the sensors on the mobile platform, manipulator, and robot in real time, including the running speed of the mobile platform, the angles of the joints of the manipulator, the distances of obstacles around the robot, the temperatures of important components of the robot, and the battery information of the robot, etc.

[0067] Embodiment 2:

[0068] Next, in combination with Figure 1 and Figure 2This embodiment will further illustrate Example 1. The robotic arm control module includes a mobile platform control area, a robotic arm single joint control area, a robotic arm end pose control area, a dexterous hand control area, and a mast pan-tilt camera control area;

[0069] The mobile platform control area is used to control the movement of the mobile platform;

[0070] The robotic arm single joint control area is used to control the movement of a single joint of the seven-degree-of-freedom robotic arm;

[0071] The robotic arm end pose control area is used to control the pose of the robotic arm end;

[0072] The dexterous hand control area is used to control the torque, motion mode, hand claw opening and closing, and finger angles of the dexterous hand;

[0073] The mast pan-tilt camera control area is used to control the lifting, rotation, and zooming of the pan-tilt camera.

[0074] Furthermore, the mobile platform control area includes a sub-controller, a three-axis analog joystick, and a multiplex switch;

[0075] The sub-controller acquires the status information of the three-axis analog joystick and the multiplex switch through analog and I / O status acquisition, and sends it to the main controller through the CAN bus;

[0076] The multiplex switch is used to switch the control objects of the joystick (mobile platform and robotic arm end position);

[0077] When the multiplex switch is in the mobile platform position, the three-axis analog joystick can control the mobile platform to achieve a straight-line motion mode, an arbitrary-radius turning motion mode, and a stationary rotation motion mode.

[0078] Still further, the robotic arm single joint control area includes a sub-controller, seven three-position self-resetting switches, and speed selection knobs;

[0079] The sub-controller acquires the status information of the three-position self-resetting switches and the speed selection knobs through I / O status acquisition, and sends it to the main controller through the CAN bus;

[0080] The three-position self-resetting switch is used to achieve forward and reverse rotation of a single joint;

[0081] The speed selection knob is used to control the rotation speed of a single joint.

[0082] Still further, the robotic arm end pose control area includes a sub-controller, two three-axis analog joysticks, and two multiplex switches;

[0083] The sub - controller acquires the status information of the three - axis analog joystick and the multiplex switch through analog quantity and I / O status acquisition, and sends it to the main controller via the CAN bus;

[0084] The two multiplex switches are used to realize the switching of the control objects of the two three - axis analog joysticks. The multiplex switch 1 is used to switch between the mobile platform and the end - position of the robotic arm, and the multiplex switch 2 is used to switch between the mast camera and the end - pose of the robotic arm.

[0085] When the multiplex switch is in the end - position and end - pose of the robotic arm, the two three - axis analog joysticks are used to control the position, orientation and movement speed of the end - effector of the robotic arm.

[0086] Furthermore, the dexterous hand control area includes a sub - controller, a torque selection knob, a three - position self - locking switch and two three - position self - resetting switches;

[0087] The sub - controller acquires the status information of the torque selection knob, the three - position self - locking switch and the two three - position self - resetting switches through I / O status acquisition, and sends it to the main controller via the CAN bus;

[0088] The torque selection knob is used to control the maximum output torque of each finger of the dexterous hand;

[0089] The three - position self - locking switch is used to switch between the single - finger movement mode, double - finger movement mode and three - finger movement mode of the dexterous hand;

[0090] The two three - position self - resetting switches are respectively used to control the opening and closing of the gripper and the finger angles.

[0091] Furthermore, the mast pan - tilt camera control area includes a sub - controller, a three - axis analog joystick, two pan - tilt attitude control buttons and a multiplex switch;

[0092] The sub - controller acquires the status information of the three - axis analog joystick, the pan - tilt attitude control buttons and the multiplex switch through analog quantity and I / O status acquisition, and sends it to the main controller via the CAN bus;

[0093] The multiplex switch is used to realize the switching of the operation objects (end - pose of the robotic arm and mast camera) of the three - axis analog joystick;

[0094] The three - axis analog joystick is used to realize the lifting, rotation and zooming of the mast camera

[0095] The two pan - tilt attitude control buttons are respectively used to reset the pan - tilt camera to the front - facing and rear - facing positions.

[0096] Furthermore, the speed selection knob and the torque selection knob are implemented using potentiometers;

[0097] The perspective switching button, emergency stop button, and pan-tilt attitude control button are all implemented by buttons;

[0098] The multiplexing switch, three-position self-resetting switch, three-position self-locking switch, and three-position self-resetting switch are all implemented by toggle switches;

[0099] The three-axis analog joystick and potentiometer transmit signals to the sub-controller through the A / D module respectively;

[0100] The toggle switch and button transmit signals to the sub-controller through the I / O port respectively;

[0101] The sub-controller simultaneously collects the status information of the three-axis analog joystick, potentiometer, toggle switch, and button, and communicates with the main controller through the CAN bus.

[0102] In the present invention, the proposed teleoperation controller includes a video image display area, a status display area, a mobile chassis control area, a robotic arm single-joint control area, a robotic arm end pose control area, a dexterous hand control area, a mast pan-tilt camera control area, a screen switching and vehicle lamp control area, an extended function area, a charging and program update area.

[0103] The teleoperation controller proposed in the present invention has the characteristics of strong versatility and strong expandability, and can be used to control various mobile robotic arm platforms through simple protocol conversion; the instruction types of the controller can be extended by configuring instruction programs. The operator has the characteristic of simple operation, and can finely control physical quantities such as the pose, rotation speed of a single joint, and the pose and torque of the end tool through each control area. For mobile operation arm robots, a teleoperation controller with relatively strong versatility is provided to control all models and categories of mobile operation arm robots to complete a series of tasks such as moving and grasping.

[0104] In the present invention, the data transceiver area includes a wireless video / data transceiver device. The dedicated wireless video / data transceiver device is connected to the main controller of the teleoperation controller through the RS232 interface. The status display area includes several displays. There are two liquid crystal displays, one of which is 3.5 inches in size and is connected to the main controller through the 232 interface; the other display is 14 inches and is connected to the high-definition wireless video transceiver device through the HDMI interface.

[0105] Although the present invention has been described herein with reference to particular embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Accordingly, it should be understood that numerous modifications may be made to the exemplary embodiments, and other arrangements may be devised, without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in connection with separate embodiments may be used in other described embodiments.

Claims

1. A teleoperation controller for a mobile robotic arm, characterized in that, It adopts a distributed control structure, and controls the mobile platform, robotic arm, dexterous hand and other peripheral mechanisms with independent sub-controllers, and conducts data communication with the main controller through the CAN bus; It also includes a program update module and an extended function module; The program update module is used to achieve compatibility with wheeled and tracked mobile platforms and robotic arms with less than seven axes by protocol conversion and configuration of peripheral parameters; The extended function module is used to control the peripheral mechanisms added to the mobile robotic arm subsequently; The mobile platform control area includes a sub-controller, a three-axis analog joystick and a multiplex switch; The sub-controller obtains the status information of the three-axis analog joystick and the multiplex switch through analog and I / O status acquisition, and sends it to the main controller through the CAN bus; The multiplex switch is used to realize the switching of the joystick to control the position of the mobile platform and the end of the robotic arm; When the multiplex switch is in the mobile platform position, the three-axis analog joystick can control the mobile platform to achieve a straight-line motion mode, a turning motion mode with any radius and a rotation-in-place motion mode; The sub-controller of the robotic arm includes a mobile platform control area, a robotic arm single-joint control area, a robotic arm end pose control area, a dexterous hand control area and a mast pan-tilt camera control area; The mobile platform control area is used to control the movement of the mobile platform; The robotic arm single-joint control area is used to control the movement of a single joint of the seven-degree-of-freedom robotic arm; The robotic arm end pose control area is used to control the pose of the end of the robotic arm; The dexterous hand control area is used to control the torque, motion mode, hand claw opening and closing, and finger angle of the dexterous hand; The mast pan-tilt camera control area is used to control the lifting, rotation and zooming of the pan-tilt camera; 2. The remote operation controller of a mobile robotic arm according to claim 1, wherein, It also includes a video image display module; The video image display module is used to display the video images collected by the mobile robotic arm in real time. When the collected video images are multiple images, multi-camera split screen or single-camera display is adopted.

3. The teleoperation controller for a mobile robotic arm according to claim 1, wherein It also includes a status display module; The status display module is used to display the status information collected by the sensors on the mobile platform, robotic arm and the robot in real time, including the running speed of the mobile platform, the angles of the joints of the robotic arm, the distances to the obstacles around the robot, the temperatures of the important components of the robot, and the battery information of the robot.

4. The teleoperation controller of a mobile robotic arm according to claim 1, wherein The robotic arm single-joint control area includes a sub-controller, seven three-position self-resetting switches and speed selection knobs; The sub-controller obtains the status information of the three-position self-resetting switches and speed selection knobs through I / O status acquisition, and sends it to the main controller through the CAN bus; The three-position self-resetting switch is used to realize the forward and reverse rotation of a single joint; The speed selection knob is used to control the rotation speed of a single joint.

5. The teleoperation controller of a mobile robotic arm according to claim 1, characterized in that, The robotic arm end pose control area includes a sub-controller, two three-axis analog joysticks and two multiplex switches; The sub-controller obtains the status information of the three-axis analog joysticks and the multiplex switches through analog and I / O status acquisition, and sends it to the main controller through the CAN bus; The two multiplexing switches are used to implement the switching of two three-axis analog joystick control objects. The multiplexing switch 1 is used to switch between the mobile platform and the end position of the robotic arm, and the multiplexing switch 2 is used to switch between the mast camera and the end attitude of the robotic arm; When the multiplexing switches are in the end position and attitude of the robotic arm, the two three-axis analog joysticks are used to control the pose and movement speed of the end of the robotic arm.

6. The teleoperation controller of a mobile robotic arm according to claim 1, characterized in that, The dexterous hand control area includes a sub-controller, a torque selection knob, a three-position self-locking switch, and two three-position self-resetting switches; The sub-controller obtains the status information of the torque selection knob, the three-position self-locking switch, and the two three-position self-resetting switches through I / O status acquisition and sends it to the main controller via the CAN bus; The torque selection knob is used to control the maximum output torque of each finger of the dexterous hand; The three-position self-locking switch is used to switch between the single-finger movement mode, the two-finger movement mode, and the three-finger movement mode of the dexterous hand; The two three-position self-resetting switches are respectively used to control the opening and closing of the gripper and the finger angle.

7. The teleoperation controller of a mobile robotic arm according to claim 1, characterized in that, The mast pan-tilt camera control area includes a sub-controller, a three-axis analog joystick, two pan-tilt attitude control buttons, and a multiplexing switch; The sub-controller obtains the status information of the three-axis analog joystick, the pan-tilt attitude control buttons, and the multiplexing switch through analog and I / O status acquisition and sends it to the main controller via the CAN bus; The multiplexing switch is used to implement the switching between the end attitude of the robotic arm, which is the operation object of the three-axis analog joystick, and the mast camera; The three-axis analog joystick is used to implement the lifting, rotation, and zoom of the mast camera; The two pan-tilt attitude control buttons are respectively used to reset the pan-tilt camera to the front and the rear.

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