Robot teleoperation control system and method

Abstract

The invention provides a robot teleoperation control system and method, and relates to the technical field of robots. The robot teleoperation control system comprises teleoperation equipment, control equipment and a controlled robot, the teleoperation equipment comprises an isomorphic body with the same joint configuration as a controlled structure of the controlled robot, the teleoperation equipment is in communication connection with the control equipment, and the control equipment is in communication connection with the controlled robot; the teleoperation equipment is used for generating motion information according to the operation action of a user on the isomorphic body and sending the motion information to the control equipment; the control equipment is used for generating a motion control instruction of the controlled robot according to the motion information and based on a joint mapping relation between an isomorphic body of the teleoperation equipment and a controlled structure of the controlled robot, and sending the motion control instruction to the controlled robot; and the controlled robot is used for executing the same action as the isomorphic body action of the teleoperation equipment according to the motion control instruction. The robot teleoperation control precision can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot teleoperation control system and method. Background Art

[0002] With the development of science and technology, in many situations and environments, people gradually use robots to replace humans for on-site operations. As the physical embodiment of human workers, teleoperation robots can solve various problems encountered in human operations. In addition, teleoperation has also become an important data collection method, enabling researchers to display and record complex robot tasks for subsequent training of embodied intelligence-related algorithms and models.

[0003] The existing robot teleoperation control system is mainly based on the movements of the teleoperation equipment, such as the movements of the motion capture clothing, and controls the displacement of the robot through remapping algorithms and kinematic solutions. However, due to the large difference between the motion space of humans and the motion space of robots, and the small number of data dimensions captured by the existing methods, it is impossible to completely cover the motion space of the robot. In this case, it is only possible to remap the motion space of the human body and the robot through kinematic solutions, but it is impossible to accurately control every joint of the robot, which seriously affects the control accuracy. Summary of the invention

[0004] The purpose of this application is to provide a robot teleoperation control system and method to improve the robot teleoperation control accuracy in view of the above-mentioned deficiencies in the prior art.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a robot teleoperation control system, comprising: a teleoperation device, a control device, and a controlled robot, wherein the teleoperation device comprises a homogeneous body having the same joint configuration as a controlled structure of the controlled robot, the teleoperation device is communicatively connected to the control device, and the control device is communicatively connected to the controlled robot;

[0007] The remote operation device is used to generate motion information according to the user's operation actions on the isomorphic body, and send the motion information to the control device;

[0008] The control device is used to generate a motion control instruction of the controlled robot according to the motion information and based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, and send the motion control instruction to the controlled robot;

[0009] The controlled robot is used to perform the same action as the isomorphic body action of the teleoperation device according to the motion control instruction.

[0010] Optionally, the remote operation device further comprises a sensor, a signal driver and a signal transmission module;

[0011] The sensor is used to detect the movement of each joint of the homogeneous body and generate movement information of each joint of the homogeneous body;

[0012] The signal driver is used to collect motion information of each joint of the homogeneous body;

[0013] The signal transmission module is used to send the motion information of each joint of the homogeneous body to the control device.

[0014] Optionally, the control device includes an instruction generation module;

[0015] The instruction generation module is used to filter the motion information of each joint of the isomorphic body of the remote operation device; based on the joint mapping relationship between the isomorphic body of the remote operation device and the controlled structure of the controlled robot, perform joint mapping between the isomorphic body of the remote operation device and the controlled structure of the controlled robot, and determine the filtered motion information corresponding to each joint of the controlled structure of the controlled robot; and generate motion control instructions for each joint of the controlled structure of the controlled robot according to the filtered motion information corresponding to each joint of the controlled structure of the controlled robot.

[0016] Optionally, the instruction generation module is further used to perform zero-position calibration on each joint of the isomorphic body of the teleoperated device and the controlled structure of the controlled robot before performing joint mapping on the isomorphic body of the teleoperated device and the controlled structure of the controlled robot.

[0017] Optionally, the control device further includes a hardware driver module;

[0018] The hardware driving module is used to perform protocol conversion on the motion control instructions of each joint of the controlled structure of the controlled robot according to the type of the controlled robot.

[0019] Optionally, the controlled structure of the controlled robot includes a mechanical arm, and the isomorphic body of the teleoperation device includes an isomorphic mechanical arm having the same joint configuration as the mechanical arm of the controlled robot;

[0020] The controlled robot further comprises an actuator located at the end of the mechanical arm, and the teleoperation device further comprises an actuator controller located at the end of the isomorphic mechanical arm and corresponding to the actuator of the controlled robot;

[0021] The execution controller is used to generate execution information according to the user's operation action on the execution controller; the signal driver is also used to collect the execution information of the execution controller; the signal transmission module is also used to send the execution information of the execution controller to the control device;

[0022] In the control device, the instruction generation module is further used to generate an execution control instruction of the actuator of the controlled robot according to the execution information of the execution controller of the remote operation device; the hardware driving module is further used to perform protocol conversion on the execution control instruction of the actuator of the controlled robot according to the type of the controlled robot;

[0023] In the controlled robot, the actuator acts according to the execution control instruction.

[0024] Optionally, the remote operation device also includes a support member, the isomorphic robotic arm is installed on the support member, and the installation angle of the isomorphic robotic arm is the same as the installation angle of the corresponding robotic arm of the controlled robot, and the support member can support the isomorphic robotic arm in front of the user.

[0025] Optionally, the remote operation device further comprises a fixed mounting structure detachably connected to the support member, and the isomorphic robotic arm is mounted on an operation plane via the detachable fixed mounting structure, so that a user can hold the end of the isomorphic robotic arm to swing the isomorphic robotic arm.

[0026] Optionally, the remote operation device also includes a wearable structure detachable from the support member, and the isomorphic robotic arm is worn on the chest of the user through the wearable structure, and the user can hold the end of the isomorphic robotic arm to swing the isomorphic robotic arm.

[0027] Optionally, the controlled structure of the controlled robot includes at least one of a head, a torso, a robotic arm, an actuator, and a moving mechanism.

[0028] In a second aspect, an embodiment of the present application provides a robot teleoperation control method, which is applied to a control device in a robot teleoperation control system as described in any one of the first aspects, and the method includes:

[0029] Receiving motion information sent by a remote operation device, wherein the motion information is generated according to an operation action of a user on a homogeneous entity of the remote operation device;

[0030] According to the motion information, based on the joint mapping relationship between the isomorphic body of the remote operation device and the controlled structure of the controlled robot, a motion control instruction is generated, and the motion control instruction is sent to the controlled robot. The motion control instruction is used to instruct the controlled robot to perform the same action as the operation action of the isomorphic body of the remote operation device.

[0031] The beneficial effects of this application are:

[0032] The robot teleoperation control system and method provided in the present application designs an isomorphic body of a teleoperation device having the same joint configuration as the controlled structure of the controlled robot, so that when the controlled robot is controlled by the teleoperation device, motion control can be performed in a joint-to-joint manner directly through the joint mapping relationship between the isomorphic body and the controlled structure, without the need for calculation through kinematic solution. Motion control in a joint-to-joint manner can improve the control accuracy of the robot teleoperation control and ensure the accuracy of the movement of the controlled robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 An architectural diagram of a robot teleoperation control system provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the structure of a remote control device provided in an embodiment of the present application;

[0036] Figure 3 A schematic diagram of the structure of the support member provided in the embodiment of the present application;

[0037] Figure 4 A schematic diagram of the structure of the execution controller provided in the embodiment of the present application;

[0038] Figure 5 A schematic diagram of the assembly of the support member and the fixed installation structure provided in the embodiment of the present application;

[0039] Figure 6 A schematic diagram of a wearable structure provided in an embodiment of the present application Figure 1 ;

[0040] Figure 7 A schematic diagram of a wearable structure provided in an embodiment of the present application Figure 2 ;

[0041] Figure 8 A schematic flow chart of a robot teleoperation control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0043] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0044] In the description of the present application, it should be noted that if the terms "upper", "lower", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the application is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0045] In addition, the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other.

[0047] Figure 1 The architecture diagram of the robot teleoperation control system provided in the embodiment of the present application is as follows: Figure 1 As shown, the robot teleoperation control system may include: a teleoperation device 100, a control device 200 and a controlled robot 300, the teleoperation device 100 includes a homologous body 101 having the same joint configuration as a controlled structure of the controlled robot 300, the teleoperation device 100 is communicatively connected to the control device 200, and the control device 200 is communicatively connected to the controlled robot 300.

[0048] The teleoperation device 100 is used to generate motion information according to the user's operation actions on the homogeneous entity 101, and send the motion information to the control device 200;

[0049] The control device 200 is used to generate a motion control instruction of the controlled robot 300 according to the motion information and based on the joint mapping relationship between the isomorphic body of the teleoperation device 100 and the controlled structure of the controlled robot 300, and send the motion control instruction to the controlled robot 300;

[0050] The controlled robot 300 is used to perform the same actions as the isomorphic body 101 of the teleoperation device 100 according to the motion control instructions.

[0051] In this embodiment, each joint of the controlled structure of the controlled robot 300 is scaled according to a certain ratio, and an isomorphic body 101 having the same joint configuration as the controlled structure of the controlled robot 300 is designed. The remote operation device 100 may include an isomorphic structure module, and the isomorphic structure module may include the isomorphic body 101.

[0052] When the controlled robot 300 needs to be controlled to perform an action, the user can control the isomorphic body 101 of the teleoperation device 100 to perform an operation, and the teleoperation device 100 collects motion information of each joint of the isomorphic body 101 and sends it to the control device 200.

[0053] The joint mapping relationship includes a pre-established spatial mapping relationship between the isomorphic entity 101 of the teleoperation device 100 and the joints of the controlled structure of the controlled robot 300. After the control device 200 receives the motion information of the joints of the isomorphic entity 101 of the teleoperation device 100, it spatially maps the motion information of the joints of the isomorphic entity 101 of the teleoperation device 100 according to the spatial mapping relationship of the joints, determines the motion information of the joints of the controlled structure of the controlled robot 300, generates motion control instructions for the joints of the controlled structure of the controlled robot 300, and sends the motion control instructions for the joints of the controlled structure of the controlled robot 300 to the controlled robot 300.

[0054] After the controlled robot 300 receives the motion control instructions for each joint, each joint of the controlled structure moves according to the corresponding motion control instructions, so that the controlled structure of the controlled robot 300 performs the same action as the user performs through the isomorphic body 101 of the remote operation device 100.

[0055] The robot teleoperation control system provided in the above-mentioned embodiment designs an isomorphic body 101 of the teleoperation device 100 having the same joint configuration as the controlled structure of the controlled robot 300, so that when the controlled robot 300 is controlled by the teleoperation device 100, motion control can be performed directly in a joint-to-joint manner through the joint mapping relationship between the isomorphic body 101 and the controlled structure, without the need for calculation through kinematic solution. Motion control in a joint-to-joint manner can improve the control accuracy of the robot teleoperation control and ensure the accuracy of the movement of the controlled robot 300.

[0056] In one possible implementation, Figure 1 As shown, the remote operation device 100 further includes a sensor 102 , a signal driver 103 and a signal transmission module 104 .

[0057] The sensor 102 is used to detect the movement of each joint of the homogeneous body 101 and generate movement information of each joint of the homogeneous body 101;

[0058] Signal driver 103, used to collect motion information of each joint of the homogeneous body;

[0059] The signal transmission module 104 is used to send the motion information of each joint of the homogeneous body to the control device 200.

[0060] In this embodiment, the teleoperation device 100 includes, in addition to the isomorphic structural module, an isomorphic hardware module and a signal transmission module 104, wherein the isomorphic hardware module includes a sensor 102 and a signal driver 103, and the sensor 102 is arranged at each joint of the isomorphic body 101 of the teleoperation device 100, and is used to detect the motion state of each joint and obtain the motion information of each joint. For example, the sensor 102 can be a servo steering engine, a servo module or a pure encoder, etc., and this embodiment does not limit this.

[0061] The signal driver 103 is used to collect the motion information of each joint of the isomorphic body 101 of the remote operation device 100 from the sensors 102 set at each joint of the isomorphic body 101 of the remote operation device 100, and send the motion information of each joint of the isomorphic body 101 of the remote operation device 100 to the control device 200 through the signal transmission module 104. The signal driver 103 is set in the remote operation device 100 in the form of a signal driving board.

[0062] The signal transmission module 104 uses a corresponding signal transmission method to realize signal transmission between the remote control device 100 and the control device 200. The signal transmission module 104 may include a signal transmission hardware, providing a single signal transmission method to meet the signal transmission requirements of a single scene, or may include multiple signal transmission hardware, providing multiple signal transmission methods to meet the signal transmission requirements of multiple application scenes. For example, the signal transmission methods provided by the signal transmission module 104 may include: Universal Serial Bus (USB) transmission, Wireless Fidelity (WIFI) transmission, 5G transmission, Ethernet transmission, etc., which are not limited in this embodiment.

[0063] In some embodiments, Figure 1 As shown, the homogeneous hardware module may also include: a shortcut button 105, the shortcut button 105 has a custom function, responds to the user's pressing operation input through the shortcut button 105, generates a target control signal corresponding to the custom function, the signal driver 103 collects the target control signal, and sends it to the control device 200 through the signal transmission module 104.

[0064] For example, the custom function may be a synchronization on or off function, which responds to a pressing operation input by the user through the shortcut button 105 to generate a synchronization on control signal or a synchronization off control signal. The control device 200 sends a synchronization on command to the controlled robot 300 based on the synchronization on control signal, so that the teleoperated device 100 and the controlled robot 300 can perform synchronous actions. The control device 200 sends a synchronization off command to the controlled robot 300 based on the synchronization off control signal, so that the teleoperated device 100 and the controlled robot 300 stop synchronous actions.

[0065] The custom function can also be to turn on the acquisition function or turn off the acquisition function, respond to the user's pressing operation input through the shortcut button 105, generate an acquisition start signal or a acquisition stop signal, and control the device 200 to store various signals sent by the signal transmission module 104 based on the acquisition start signal, and stop storing various signals sent by the signal transmission module 104 based on the acquisition stop signal.

[0066] It should be noted that the above-mentioned customized functions are merely exemplary descriptions, and the functions of the shortcut buttons are not limited to the above-mentioned examples. In actual use, they can be customized according to actual needs, and this embodiment does not impose any restrictions on this.

[0067] In some embodiments, Figure 1As shown, the homogeneous hardware module may also include: a power supply board 106, which is used to supply power to each power-consuming unit of the remote operation device 100, and may be powered by a lithium battery or by connecting to a power supply grid through a power adapter.

[0068] In one possible implementation, Figure 1 As shown, the control device 200 may include an instruction generating module 201 .

[0069] The instruction generation module 201 is used to filter the motion information of each joint of the isomorphic body 101 of the remote operation device 100; based on the joint mapping relationship between the isomorphic body 101 of the remote operation device 100 and the controlled structure of the controlled robot 300, the isomorphic body 101 of the remote operation device 100 and the controlled structure of the controlled robot 300 are joint mapped to determine the filtered motion information corresponding to each joint of the controlled structure of the controlled robot 300; according to the filtered motion information corresponding to each joint of the controlled structure of the controlled robot 300, the motion control instructions of each joint of the controlled structure of the controlled robot 300 are generated.

[0070] In this embodiment, the instruction generation module 201 is used to execute a signal filtering algorithm and a joint mapping algorithm, wherein the instruction generation module 201 executes the signal filtering algorithm to filter the motion information sent by the teleoperation device 100 to obtain the filtered motion information of each joint of the isomorphic body 101 of the teleoperation device 100, and then executes the joint mapping algorithm to map the filtered motion information of each joint of the isomorphic body 101 of the teleoperation device 100 from the joint space of the isomorphic body 101 of the teleoperation device 100 to the joint space of the controlled structure of the controlled robot 300 according to the joint mapping relationship between each joint of the isomorphic body 101 of the teleoperation device 100 and each joint of the controlled structure of the controlled robot 300, to obtain the filtered motion information corresponding to each joint of the controlled structure of the controlled robot 300, and generate motion control instructions for each joint of the controlled structure of the controlled robot 300 according to the filtered motion information corresponding to each joint of the controlled structure of the controlled robot 300.

[0071] The joint mapping relationship is used to indicate the spatial mapping relationship of each joint from the space where the isomorphic body 101 of the teleoperation device 100 is located to the space where the controlled structure of the controlled robot 300 is located. The joint mapping relationship includes the position mapping relationship and posture mapping relationship of each joint.

[0072] For example, the signal filtering algorithm may be a Kalman filtering algorithm or other filtering algorithms, which are used to smooth the motion information.

[0073] In some embodiments, the instruction generation module 201 is also used to perform zero-position calibration on each joint of the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300 before performing joint mapping on the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300.

[0074] In this embodiment, before performing joint mapping on each joint of the isomorphic body 101 of the teleoperation device 100 and each joint of the controlled structure of the controlled robot 300, it is necessary to ensure that the relative error between the actual position and the theoretical position of each joint of the isomorphic body 101 of the teleoperation device 100 at the initial position is as small as possible. Similarly, the relative error between the actual position and the theoretical position of each joint of the controlled structure of the controlled robot 300 at the initial position is also as small as possible. Therefore, it is necessary to perform zero-position calibration on each joint of the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300 respectively.

[0075] In some embodiments, after the teleoperation device 100 and the controlled robot 300 start synchronization, the zero-position calibration is first performed on the respective joints of the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300. Specifically, the initial position of the isomorphic body 101 of the teleoperation device 100 is detected, and the relative error between the actual position and the theoretical position of the initial position is determined, the relative error is compensated, and the compensated initial position of the isomorphic body 101 of the teleoperation device 100 is determined. Similarly, the initial position of the controlled structure of the controlled robot 300 is detected, and the relative error between the actual position and the theoretical position of the initial position is determined, the relative error is compensated, and the compensated initial position of the controlled structure of the controlled robot 300 is determined.

[0076] The robot teleoperation control system provided in the above embodiment filters and maps the motion information of each joint of the isomorphic body 101 of the teleoperation device 100 through the instruction generation module 201 of the control device 200, so that the motion control instructions generated for each joint can accurately control each joint of the controlled structure of the controlled robot 300, thereby improving the teleoperation control accuracy and ensuring the accuracy of the controlled robot's movements.

[0077] Furthermore, before joint mapping, zero-position calibration is performed on the isomorphic body 101 of the teleoperation device 100 and the joints of the controlled structure of the controlled robot 300, so as to better ensure the accuracy of joint mapping.

[0078] In a possible implementation, the instruction generation module 201 is further configured to generate a target control instruction according to the target control signal of the shortcut button 105 , and send the target control instruction to the controlled robot according to the type of the target control instruction.

[0079] In one possible implementation, Figure 1 As shown, the control device 200 may further include a hardware driver module 202 ; the hardware driver module 202 is used to perform protocol conversion on motion control instructions of each joint of the controlled structure of the controlled robot 300 according to the type of the controlled robot 300 .

[0080] In this embodiment, in order to adapt to different types of controlled robots 300, a hardware driver module 202 is set in the control device 200. According to the interface type of the controlled robot 300, a corresponding control driver is set in the hardware driver module 202. The motion control instructions of each joint of the controlled structure of the controlled robot 300 are converted into a protocol through the control driver, so that the motion control instructions of each joint of the controlled structure of the controlled robot 300 meet the control protocol requirements of the controlled robot 300.

[0081] The robot teleoperation control system provided in the above embodiment performs protocol conversion on the motion control instructions of each joint of the controlled structure of the controlled robot 300 based on the hardware driver module 202 in the control device, so that the robot teleoperation control system can adapt to different types of robot devices and can be widely used in robots in different scenarios. The system has strong scalability.

[0082] In one possible implementation, Figure 1 As shown, the controlled structure of the controlled robot 300 includes a robotic arm 301, and the isomorphic body 101 of the remote control device 100 includes an isomorphic robotic arm having the same joint configuration as the robotic arm 301 of the controlled robot 300; the controlled robot 300 also includes an actuator 302 located at the end of the robotic arm 301, and the remote control device 100 also includes an actuator controller 107 located at the end of the isomorphic robotic arm and corresponding to the actuator 302 of the controlled robot 300.

[0083] The execution controller 107 is used to generate execution information according to the user's operation actions on the execution controller 107; the signal driver 103 is also used to collect the execution information of the execution controller 107; the signal transmission module 104 is also used to send the execution information of the execution controller 107 to the control device 200.

[0084] In the control device 200, the instruction generation module 201 is also used to generate execution control instructions of the actuator 302 of the controlled robot 300 according to the execution information of the execution controller 107 of the remote operation device 100; the hardware driving module 202 is also used to perform protocol conversion on the execution control instructions of the actuator 302 of the controlled robot 300 according to the type of the controlled robot 300.

[0085] In the controlled robot 300, the actuator 302 operates according to the execution control instruction.

[0086] In this embodiment, in order to simplify the structure of the remote control device 100 while ensuring precise control of the controlled robot 300, the remote control device 100 only needs a robotic arm with the same joint configuration as the controlled robot 300. For the actuator 302 at the end of the robotic arm 301 of the controlled robot 300, the isomorphic body 101 of the remote control device 100 does not have to have an actuator with the same structure, but only needs to have a controller corresponding to the actuator 302 to control the action of the actuator 302.

[0087] Specifically, the isomorphic body 101 of the teleoperation device 100 is an isomorphic robotic arm having the same joint configuration as the robotic arm 301 of the controlled robot 300 , and an execution controller 107 corresponding to the execution mechanism 302 at the end of the robotic arm 301 of the controlled robot 300 is arranged at the end of the isomorphic robotic arm.

[0088] Among them, the user controls the movement of the robotic arm 301 of the controlled robot 300 by controlling the homogeneous robotic arm of the remote operation device 100. After the robotic arm 301 of the controlled robot 300 is controlled to move to the target position by the homogeneous robotic arm of the remote operation device 100, if it is necessary to control the actuator 302 of the controlled robot 300 to perform an operation, the operation action can be input through the execution controller 107 at the end of the homogeneous robotic arm of the remote operation device 100 and the execution information can be generated. The signal driver 103 sends the execution information to the control device 200 through the signal transmission module 104. The instruction generation module 201 of the control device 200 generates an execution control instruction according to the execution information, and sends the execution control instruction to the controlled robot 300. The actuator 302 of the controlled robot 300 acts according to the execution control instruction.

[0089] In some embodiments, the execution controller 107 may be an execution button. When the user presses the execution button, execution information is generated to control the actuator 302 of the controlled robot 300 to perform an action. The action performed by the actuator 302 is related to the type of the actuator 302 .

[0090] For example, the actuator 302 connected to the end of the robotic arm 301 of the controlled robot 300 can be different types of actuators such as a dexterous hand, a parallel gripper, a suction cup, etc. The actuator controller 107 connected to the end of the isomorphic robotic arm of the remote operation device 100 can control the dexterous hand and the parallel gripper to perform grasping and releasing actions, and control the suction cup to perform suction and releasing actions.

[0091] In some embodiments, the isomorphic robotic arm can be obtained by scaling the robotic arm 301 of the controlled robot 300 according to a certain ratio. If the robotic arm 301 of the controlled robot 300 is a large robotic arm, the robotic arm 301 of the controlled robot 300 can be reduced to obtain a isomorphic robotic arm. If the robotic arm 301 of the controlled robot 300 is a micro robotic arm, the robotic arm of the controlled robot 300 can be enlarged to obtain a isomorphic robotic arm.

[0092] The robot teleoperation control system provided in the above embodiment is provided with an isomorphic robotic arm with the same joint configuration as the robotic arm 301 of the controlled robot 300, and an execution controller 107 corresponding to the actuator 302 at the end of the robotic arm 301 of the controlled robot 300, so as to achieve precise control of the movement of the robotic arm 301 of the controlled robot 300 and the operation of the actuator 302 through the isomorphic robotic arm of the teleoperation device 100. The execution controller 107 can match different types of actuators 302, and has stronger scalability.

[0093] In one possible implementation, Figure 1 As shown, the isomorphic structural module of the remote operation device 100 may also include: a support 109, on which the isomorphic robotic arm is installed, and the installation angle of the isomorphic robotic arm is the same as the installation angle of the corresponding robotic arm 301 of the controlled robot 300, and the support 109 can support the isomorphic robotic arm in front of the user.

[0094] For example, Figure 2 A schematic diagram of the structure of the remote control device 100 provided in the embodiment of the present application is shown in FIG. Figure 2 As shown, the teleoperation device 100 includes: a homogeneous mechanical arm 108 and a support 109. The fixed end of the homogeneous mechanical arm 108 is connected to the support 109. The support 109 can fix the homogeneous mechanical arm 108 in front of the user. The homogeneous mechanical arm 108 has a plurality of homogeneous joints with the same joint configuration as the controlled joints of the mechanical arm of the controlled robot 300. A sensor 102 is provided at the connection of any two connected homogeneous joints. The sensor 102 is used to detect the relative position information of the corresponding homogeneous joints. The relative position information is used to control the actions of each controlled joint of the mechanical arm 301 of the controlled robot 300. The user can hold the end of the homogeneous mechanical arm 108 and swing the homogeneous mechanical arm 108 to make the corresponding homogeneous joint of the homogeneous mechanical arm 108 move.

[0095] By connecting the fixed end of the isomorphic mechanical arm 108 to the support 109, the isomorphic mechanical arm 108 is fixed to the front side of the user, and the isomorphic mechanical arm 108 does not need to be fixed to the user's arm, and the fixation of the isomorphic mechanical arm 108 is more convenient. When in use, the user only needs to hold the end of the isomorphic mechanical arm 108 and swing the corresponding isomorphic joint of the isomorphic mechanical arm 108 to realize the movement of the isomorphic mechanical arm 108, and the operation is also more flexible and convenient.

[0096] Since the homogeneous robotic arm 108 is fixed in front of the user, and the fixed person holds the end of the homogeneous robotic arm 108 to operate the homogeneous robotic arm 108, the length of the homogeneous robotic arm 108 is shorter than the length of the user's arm and the volume is smaller.

[0097] It should be noted that the multiple isomorphic joints of the isomorphic mechanical arm 108 of the teleoperation device 100 and the multiple controlled joints of the mechanical arm 301 of the controlled robot 300 have the same configuration. For example, when the mechanical arm 301 of the controlled robot 300 is a three-degree-of-freedom mechanical arm with three controlled joints, the structure of the isomorphic mechanical arm 108 of the teleoperation device 100 also has three isomorphic joints, and the three isomorphic joints and the three controlled joints have a one-to-one correspondence, that is, the controlled joints of the first section correspond to the isomorphic joints of the first section, the controlled joints of the second section correspond to the isomorphic joints of the second section, and the controlled joints of the third section correspond to the isomorphic joints of the third section. When the user operates the isomorphic joint of the first section of the isomorphic robotic arm 108 of the remote operation device 100, the controlled joint of the first section of the robotic arm 301 of the controlled robot 300 will also make the same movement. When the user operates the isomorphic joint of the second section of the isomorphic robotic arm 108 of the remote operation device 100, the controlled joint of the second section of the robotic arm 301 of the controlled robot 300 will also make corresponding movements.

[0098] In some embodiments, Figure 2 As shown, the teleoperation device 100 further includes a fixing member 110 . The fixing end of the isomorphic mechanical arm 108 is mounted on the support member 109 via the fixing member 110 .

[0099] In this embodiment, the fixing member 110 is provided so as to conveniently fix the isomorphic robot arm 108 .

[0100] Specifically, the fixing member 110 is boxed, a circuit board of the same structure as the robot arm 108 is arranged inside the fixing member 110 , and the fixing member 110 is connected to the supporting member 109 by bolts.

[0101] In this embodiment, the circuit board and the sensor 102 at the end of the isomorphic robot arm 108 are both disposed in the fixing member 110 , which can save space and protect the circuit board.

[0102] In this embodiment, the sensor 102 is a servo actuator, and the relative position information is the relative rotation angle. The servo actuator can collect the relative rotation angle of two connected isomorphic joints, thereby controlling the rotation of the motor at the corresponding joint of the controlled robot.

[0103] For example, Figure 3 A schematic diagram of the structure of the support member provided in the embodiment of the present application, such as Figure 3 As shown, the support member 109 includes a bottom plate 191, a first connecting plate 192 and a second connecting plate 193. The first connecting plate 192 and the second connecting plate 193 are arranged on the bottom plate 191, and the first connecting plate 192 and the second connecting plate 193 are inclined in an "eight" shape, and two fixing members 110 are respectively installed on the first connecting plate 192 and the second connecting plate 193.

[0104] In this embodiment, the first connecting plate 192 and the second connecting plate 193 are obliquely protruded in an "eight" shape on the bottom plate 191, which can facilitate the connection of the fixing member 110 and ensure the installation angle of the isomorphic robot arm 108.

[0105] In some embodiments, Figure 2 As shown, the homogeneous robot arm 108 further has an execution controller 107 , and the user controls the action of the execution mechanism 302 of the controlled robot 300 based on the execution controller 107 of the teleoperation device 100 . The execution controller 107 is disposed at the end of the homogeneous robot arm 108 .

[0106] In this embodiment, the execution controller 107 is provided to conveniently control the execution mechanism 302 of the controlled robot 300 .

[0107] Specifically, Figure 4 A schematic diagram of the structure of the execution controller provided in the embodiment of the present application, such as Figure 3 As shown, the execution controller 107 includes a connecting member 171, a driving member 172 and a rotation sensor 173. The connecting member 171 is installed at the end of the isomorphic mechanical arm 108, the driving member 172 is rotationally connected to the connecting member 171, and the rotation sensor 173 is arranged on the connecting member 171. The rotation sensor 173 is used to detect whether the driving member 172 rotates relative to the connecting member 171, and the detection result of the rotation sensor 173 is used to control the action of the actuator 302.

[0108] In this embodiment, the execution controller 107 is configured to drive the rotation sensor 173 to rotate together with the driving member 172 , so that the user can press the driving member 172 with the thumb when holding the execution controller 107 , which makes the operation more convenient.

[0109] Furthermore, the rotation sensor 173 may also be a servo steering engine. The driving member 172 is installed at the input end of the rotation sensor 173. The execution controller 107 further includes a torsion spring, which is arranged between the driving member 172 and the connecting member 171, and allows the driving member 172 to reset. When the user does not press the driving member 172, the torsion spring allows the driving member 172 to rotate to the initial position, so that the user only needs to press it during operation, and the driving member 172 will automatically reset after releasing it.

[0110] Secondly, in this embodiment, the connecting member 171 and the end of the isomorphic robotic arm 108 are integrally formed, that is, the rotation sensor 173 and the driving member 172 are integrated at the end of the isomorphic robotic arm 108, which can make the length of the isomorphic robotic arm 108 shorter as a whole.

[0111] In some other embodiments of the present application, the sensor 102 and the rotation sensor 173 may also be a potentiometer, an angle sensor, etc.

[0112] In some embodiments, the robotic arm of the controlled robot includes two, such as Figure 2 As shown, the isomorphic robotic arms 108 also include two, and the two isomorphic robotic arms 108 are installed on both sides of the support member 109 through corresponding fixing members 110 .

[0113] In this embodiment, two isomorphic robotic arms 108 are provided so that the user can use both hands to control the movements of the two robotic arms of the controlled robot at the same time, which makes the operation more convenient.

[0114] In this embodiment, two mechanical arms of the controlled robot are installed on both sides of the robot trunk, and two isomorphic mechanical arms 108 are installed on both sides of the support member 109 through fixing members 110 arranged at the fixing ends.

[0115] Furthermore, the installation angles of the two isomorphic robotic arms 108 are the same as the installation angles of the two robotic arms of the controlled robot.

[0116] In this embodiment, the installation angles of the two isomorphic mechanical arms 108 are made the same as the installation angles of the two mechanical arms of the controlled robot, which can improve the control accuracy.

[0117] It should be noted that the installation angles of the two isomorphic robotic arms 108 being the same as the installation angles of the two robotic arms of the controlled robot means that the installation angles of the two robotic arms of the controlled robot relative to the torso of the robot are the same as the installation angles of the two isomorphic robotic arms 108 relative to the fixed component.

[0118] The robot teleoperation control system provided in the above embodiment connects the fixed end of the isomorphic mechanical arm to the support, and fixes the isomorphic mechanical arm to the front side of the user through the support, without the need to fix the isomorphic mechanical arm to the user's arm, making the fixation of the isomorphic mechanical arm more convenient. When in use, the user only needs to hold the end of the isomorphic mechanical arm and swing the corresponding joint of the isomorphic mechanical arm to realize the movement of the isomorphic mechanical arm, and the operation is more convenient and flexible.

[0119] In one possible implementation, Figure 1 As shown, the remote operation device 100 also includes a fixed installation structure 111 detachably connected to the support member 109. The isomorphic robotic arm is installed on the operation plane through the detachable fixed installation structure 111, and the user can hold the end of the isomorphic robotic arm to swing the isomorphic robotic arm.

[0120] In this embodiment, in order to meet different operation requirements of the teleoperation device, a detachable fixed installation structure 111 is designed for the teleoperation device 100. The fixed installation structure 111 is detachably installed on the support 109. The fixed installation structure 111 can fix the support 109 on the operation plane, so that the isomorphic mechanical arm 108 is installed on the operation plane. A person stands beside the operation plane, and the support 109 and the isomorphic mechanical arm 108 are located in front of the user to operate the isomorphic mechanical arm 108. In addition, the isomorphic mechanical arm can also be removed from the operation plane to achieve flexible setting of the installation position of the isomorphic mechanical arm.

[0121] After the homogeneous robotic arm is installed on the operating plane, the user can hold the end of the homogeneous robotic arm and swing the homogeneous robotic arm to move each joint of the homogeneous robotic arm, and the sensor obtains corresponding motion information.

[0122] In some embodiments, the fixed installation structure 111 is provided with a threaded hole, and the fixed installation structure 111 can be directly fixed on the operating table by passing a bolt through the threaded hole, so that the stability is stronger and the operation is more convenient.

[0123] For example, Figure 5 The schematic diagram of the assembly of the support member and the fixed installation structure provided in the embodiment of the present application is as follows: Figure 5 As shown, a buckle 112 is provided on the fixed installation structure 111 , and the support member 109 is detachably mounted on the fixed installation structure 111 through the buckle 112 .

[0124] Specifically, there are multiple buckles 112, and the buckle bodies of the multiple buckles 112 are respectively fixed to the two sides of the fixed installation structure 111 by screws, and the support member 109 is provided with hooks at positions corresponding to the buckle bodies. The support member 109 can be detachably connected to the fixed installation structure 111 by buckling the buckle bodies on the hooks.

[0125] By providing a buckle 112 on the fixed installation structure 111, the support member 109 and the fixed installation structure 111 can be conveniently fixed through the buckle 112, and the support member 109 and the fixed installation structure 111 can also be conveniently separated, which is convenient for quick disassembly and assembly when different methods are selected.

[0126] Of course, in some other embodiments of the present application, the detachable connection between the support member 109 and the fixed installation structure 111 may also be achieved by other methods, such as quick release, buckle, etc.

[0127] In some embodiments, Figure 5 As shown, the first connecting plate 192 and the second connecting plate 193 are both provided with abutting bosses 194 on the opposite sides. Support bosses are provided on both sides of the fixed mounting structure 111. When the support member 109 is installed on the fixed mounting structure 111, the top of the fixed mounting structure 111 abuts against the abutting bosses 194 and is clamped between the first connecting plate 192 and the second connecting plate 193. The bottom ends of the first connecting plate 192 and the second connecting plate 193 are supported on the supporting bosses, thereby realizing the internal and external fitting to avoid relative displacement.

[0128] The fixed installation structure 111 is provided with a positioning protrusion, and the support member 109 is provided with a positioning groove 195 , and the positioning protrusion can be inserted into the positioning groove 195 .

[0129] In this embodiment, the positioning protrusion and the positioning groove 195 are plugged into each other so as to achieve positioning between the two during assembly and prevent relative sliding between the two.

[0130] Specifically, the positioning boss is protruding from the top of the fixed installation structure 111, and the positioning groove 195 is set on the abutting boss 194. During assembly, the abutting boss 194 can be easily inserted into the positioning groove 195 by moving from top to bottom.

[0131] In another possible implementation, Figure 1 As shown, the remote operation device also includes a wearable structure 113 that is detachable from the support 109. The isomorphic robotic arm 108 is worn on the user's chest through the wearable structure 113, and the user can hold the end of the isomorphic robotic arm 108 to swing the isomorphic robotic arm 108.

[0132] Specifically, the support member 109 is detachably mounted on the wearable structure 113, and the wearable structure 113 can fix the support member 109 on the chest of the user.

[0133] In this embodiment, a wearable structure 113 is provided, and the support member 109 is detachably connected to the wearable structure 113. The user can wear the wearable structure 113 on the body and use the body to bear the weight of the remote operation device 100. In this way, the operator's two hands only need to operate the isomorphic robotic arm 108, which is more convenient to use.

[0134] It should be noted that the wearable structure 113 of the teleoperation device provided in this embodiment only provides support and fixation for the support member 109, so as to fix the isomorphic mechanical arm 108 in front of the user, so as to facilitate the user's operation. The joints of the isomorphic mechanical arm 108 do not need to be fixed to the corresponding parts of the user's arm. When operating, the user only needs to hold the end of the isomorphic mechanical arm 108 and swing the isomorphic mechanical arm 108 to control the movement of the controlled robot 300. The existing wearable control device is generally carried on the back of the operator, and its corresponding part is tied to the outside of the corresponding part of the user's arm through structures such as straps and clamps in the form of an exoskeleton, and the control is achieved by the movement of various parts of the arm. This requires the length of the controller to be set longer, at least longer than the user's arm, and other fixings are required, which leads to its large size and weight. Secondly, the controller is fixed on the outside of the arm. Due to the limited rotation angle between the upper arm relative to the shoulder and the lower arm relative to the upper arm, the movement of the existing controller is limited. Compared with the isomorphic robotic arm 108 in the present application, which is not fixed to the user's arm, and is located in front of the user and on the inside of the arm, the user swings the end of the isomorphic robotic arm 108 to swing the corresponding joints of the isomorphic robotic arm 108. In this way, the rotation of any two connected joints of the isomorphic robotic arm 108 is not limited by the rotation angle of the arm, and the rotation angle can be larger.

[0135] In some embodiments, Figure 6 A schematic diagram of a wearable structure provided in an embodiment of the present application Figure 1 , Figure 7 A schematic diagram of a wearable structure provided in an embodiment of the present application Figure 2 ,like Figure 6 and Figure 7 As shown, the wearable structure 113 includes: a wearing component 131 and a fixing component 132.

[0136] The fixed component 132 is detachably mounted on the front of the wearable component 131, and the fixed end of the isomorphic robotic arm 108 is connected to the fixed component 132 through the support 109. When the user wears the wearable component 131, the fixed component 132 is located in front of the user's chest, and the isomorphic robotic arm 108 is located on the inside of the user's arm and moves with the user's arm movements.

[0137] In this embodiment, a fixing assembly 132 is arranged on the front of the wearable assembly 131, and the bottom plate 191 of the support member 109 is detachably mounted on the fixing assembly 132. The fixing assembly 132 can form a mounting plane so that the support member 109 can be better mounted. Secondly, the fixing assembly 132 can also better bear weight and be mounted.

[0138] In this embodiment, the wearing component 131 is a wearing strap, and the fixing component 132 is disposed on the front side of the wearing strap.

[0139] In this embodiment, the wearable component 131 is configured as a wearable strap, which is more convenient for the user to wear, and has a larger adjustable range and higher applicability. The wearable strap can be put on the user's torso to bear the mass of the isomorphic robotic arm 108.

[0140] Of course, in some other embodiments of the present application, the wearable component 131 may also be other types of structures such as straps, as long as it can fix the control arm 130 on the user's chest.

[0141] The support member 109 and the fixing assembly 132 are detachably connected by bolts. Of course, in some other embodiments of the present application, the support member 109 and the fixing assembly 132 can also be detachably connected by means of buckles or the like.

[0142] The robot teleoperation control system provided in the above embodiment, by setting the teleoperation device as a wearable structure, is convenient for users to wear. The wearable device is put on the front side of the user's body. On the one hand, it can carry the instructions of the homogeneous robotic arm through the user, and on the other hand, it is convenient for the user to operate the homogeneous robotic arm. It is more flexible and the user can control the controlled robot at any location.

[0143] Furthermore, the robot remote control system provided in the above embodiment provides two usage methods, one is fixed on the user's chest through a wearable structure, and the other is fixed on the operating table through a fixed installation structure. Both the wearable structure and the fixed installation structure are detachable, and the usage method can be flexibly selected according to usage requirements, which is more convenient to use.

[0144] In a possible implementation, the controlled structure of the controlled robot 300 includes at least one of a head 303 , a trunk 304 , a robotic arm 301 , an actuator 302 , and a moving mechanism 305 .

[0145] In this embodiment, if the head 303 of the controlled robot 300 is provided with a detection module, such as a radar, a camera, etc., then the head 303 of the controlled robot 300 can also be used as a controlled structure, and the remote control device has a sensor corresponding to the head 303 of the controlled robot 300. The sensor is set on the user's head, and the head 303 of the controlled robot 300 can be controlled to move through the user's head movement.

[0146] Similarly, the trunk 304 of the controlled robot 300 can also be used as a controlled structure. According to the action to be performed by the trunk 304 of the controlled robot 300, a corresponding structure or sensor is set in the teleoperation device 100.

[0147] The specific implementation of the mechanical arm 301 and the actuator 302 of the controlled robot 300 as the controlled structure is as described above and will not be repeated here.

[0148] If it is necessary to control the controlled robot 300 to move, the moving mechanism 305 of the controlled robot 300 can also serve as the controlled structure, and the remote control device 100 also needs to be equipped with a corresponding structure or sensor. For example, the movement of the isomorphic structure of the remote control device 100 is detected by a sensor arranged on the isomorphic structure corresponding to the moving mechanism, or the movement of the user's legs is detected by a sensor arranged on the user's legs, so as to control the movement of the moving mechanism 305 of the controlled robot 300 so that the controlled robot 300 moves.

[0149] The robot teleoperation control system provided in the above embodiments can control controlled robots of different structures and types, has strong scalability and a wide range of applications.

[0150] Based on the robot teleoperation control system provided in the above-mentioned embodiment, the embodiment of the present application also provides a robot teleoperation control method, which is applied to the control device in the robot teleoperation control system. Figure 8 A schematic diagram of a flow chart of a robot teleoperation control method provided in an embodiment of the present application, such as Figure 8 As shown, the method may include:

[0151] S401, receiving motion information sent by a remote control device, where the motion information is generated according to the user's operation actions on the isomorphic entity of the remote control device.

[0152] S402. Generate motion control instructions according to the motion information and based on the joint mapping relationship between the isomorphic body of the remote-operated device and the controlled structure of the controlled robot, and send the motion control instructions to the controlled robot. The motion control instructions are used to instruct the controlled robot to perform the same operation as the isomorphic body of the remote-operated device.

[0153] In this embodiment, when the controlled robot needs to be controlled to perform an action, the user can control the isomorphic body of the teleoperation device to perform the operation action, and the teleoperation device collects the motion information of each joint of the isomorphic body and sends it to the control device.

[0154] After receiving the motion information of each joint of the isomorphic body, the control device generates motion control instructions for each joint of the controlled structure of the controlled robot according to the spatial mapping relationship of each joint, and sends the motion control instructions for each joint of the controlled structure of the controlled robot to the controlled robot.

[0155] After the controlled robot receives the motion control instructions of each joint, each joint of the controlled structure moves according to the corresponding motion control instructions, so that the controlled structure of the controlled robot performs the same action as the user performs through the isomorphic ontology.

[0156] The robot teleoperation control method provided in the above embodiment designs an isomorphic body of a teleoperation device having the same joint configuration as the controlled structure of the controlled robot, so that when the controlled robot is controlled by the teleoperation device, motion control can be performed in a joint-to-joint manner directly through the joint mapping relationship between the isomorphic body and the controlled structure, without the need for calculation through kinematic solution. Motion control in a joint-to-joint manner can improve the control accuracy of the robot teleoperation control and ensure the accuracy of the movement of the controlled robot.

[0157] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A robot teleoperation control system, characterized in that: include: A teleoperation device, a control device and a controlled robot, wherein the teleoperation device comprises a homogeneous body having the same joint configuration as a controlled structure of the controlled robot, the teleoperation device is communicatively connected to the control device, and the control device is communicatively connected to the controlled robot; The remote operation device is used to generate motion information according to the user's operation actions on the isomorphic body, and send the motion information to the control device; The control device is used to generate a motion control instruction of the controlled robot according to the motion information and based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, and send the motion control instruction to the controlled robot; The controlled robot is used to perform the same action as the isomorphic body action of the teleoperation device according to the motion control instruction.

2. The robot teleoperation control system according to claim 1, characterized in that: The remote operation device also includes a sensor, a signal driver and a signal transmission module; The sensor is used to detect the movement of each joint of the homogeneous body and generate movement information of each joint of the homogeneous body; The signal driver is used to collect motion information of each joint of the homogeneous body; The signal transmission module is used to send the motion information of each joint of the homogeneous body to the control device.

3. The robot teleoperation control system according to claim 2, characterized in that: The control device includes an instruction generation module; The instruction generation module is used to filter the motion information of each joint of the isomorphic body of the teleoperated device; based on the joint mapping relationship between the isomorphic body of the teleoperated device and the controlled structure of the controlled robot, perform joint mapping between the isomorphic body of the teleoperated device and the controlled structure of the controlled robot, and determine the filtered motion information corresponding to each joint of the controlled structure of the controlled robot; According to the filtered motion information corresponding to each joint of the controlled structure of the controlled robot, motion control instructions for each joint of the controlled structure of the controlled robot are generated.

4. The robot teleoperation control system according to claim 3, characterized in that: The instruction generation module is further used to perform zero position calibration on each joint of the isomorphic body of the teleoperation device and the controlled structure of the controlled robot before performing joint mapping on the isomorphic body of the teleoperation device and the controlled structure of the controlled robot.

5. The robot teleoperation control system according to claim 3, characterized in that: The control device also includes a hardware driver module; The hardware driving module is used to perform protocol conversion on the motion control instructions of each joint of the controlled structure of the controlled robot according to the type of the controlled robot.

6. The robot teleoperation control system according to claim 5, characterized in that: The controlled structure of the controlled robot includes a mechanical arm, and the isomorphic body of the teleoperation device includes an isomorphic mechanical arm having the same joint configuration as the mechanical arm of the controlled robot; The controlled robot further comprises an actuator located at the end of the mechanical arm, and the teleoperation device further comprises an actuator controller located at the end of the isomorphic mechanical arm and corresponding to the actuator of the controlled robot; The execution controller is used to generate execution information according to the user's operation action on the execution controller; the signal driver is also used to collect the execution information of the execution controller; the signal transmission module is also used to send the execution information of the execution controller to the control device; In the control device, the instruction generation module is further used to generate an execution control instruction of the actuator of the controlled robot according to the execution information of the execution controller of the remote operation device; the hardware driving module is further used to perform protocol conversion on the execution control instruction of the actuator of the controlled robot according to the type of the controlled robot; In the controlled robot, the actuator acts according to the execution control instruction.

7. The robot teleoperation control system according to claim 6, characterized in that: The remote operation device also includes a support member, the isomorphic robotic arm is installed on the support member, and the installation angle of the isomorphic robotic arm is the same as the installation angle of the corresponding robotic arm of the controlled robot, and the support member can support the isomorphic robotic arm in front of the user.

8. The robot teleoperation control system according to claim 7, characterized in that: The teleoperation device further comprises a fixed installation structure detachably connected to the support member, and the isomorphic mechanical arm is installed on the operation plane through the detachable fixed installation structure, so that the user can hold the end of the isomorphic mechanical arm and swing the isomorphic mechanical arm; or, The remote operation device also includes a wearable structure that is detachable from the support member, and the isomorphic robotic arm is worn on the chest of the user through the wearable structure, and the user can hold the end of the isomorphic robotic arm to swing the isomorphic robotic arm.

9. The robot teleoperation control system according to claim 1, characterized in that: The controlled structure of the controlled robot includes at least one of a head, a trunk, a mechanical arm, an actuator, and a moving mechanism.

10. A robot teleoperation control method, characterized in that: A control device used in a robot teleoperation control system according to any one of claims 1 to 9, the method comprising: Receiving motion information sent by a remote operation device, wherein the motion information is generated according to an operation action of a user on a homogeneous entity of the remote operation device; According to the motion information, based on the joint mapping relationship between the isomorphic body of the remote operation device and the controlled structure of the controlled robot, a motion control instruction is generated, and the motion control instruction is sent to the controlled robot. The motion control instruction is used to instruct the controlled robot to perform the same action as the operation action of the isomorphic body of the remote operation device.

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