Robot control method and device and operation equipment

Abstract

The invention relates to a robot control method and device, and operation equipment. The method comprises the following steps: acquiring coordinate system information of a plurality of inertial measurement units; one inertial measurement unit in the plurality of inertial measurement units is worn on the body of an operator, and the other inertial measurement units are worn on the arms of the operator; obtaining a current trunk pose and a current arm pose of the operator collected by the plurality of inertial measurement units; and according to the coordinate system information, the current trunk pose and the current arm pose, arm action information of an operator is obtained, and according to the arm action information, a mechanical arm of the robot is controlled to move. By means of the method and device, the reliability of recognizing and tracking the posture and action of the user can be improved in the man-machine interaction of the mechanical arm.

Description

Technical Field

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

[0002] Robotic arm human-computer interaction refers to the interactive activities between humans and robotic arms. Users output instructions through their postures and movements. The robotic arm needs to understand the user's instructions and perform complex tasks, and work collaboratively with humans during the execution process.

[0003] In previous robotic arm human-computer interaction technologies, the user's posture and movements are usually identified and tracked based on depth cameras, infrared sensors and skeleton tracking algorithms. The depth camera can perceive the depth information in the environment, while the infrared sensor can perceive the heat of the human body. By combining the depth information and infrared information, the user's posture and movements can be identified and tracked. The skeleton tracking algorithm can convert the depth information and infrared information into the user's skeleton information, thereby realizing real-time tracking and analysis of the user's skeleton posture.

[0004] However, the above method of identifying and tracking the user's posture and movements may be interfered with under certain environmental conditions. For example, strong light, cluttered background, etc. may cause the depth camera to be unable to accurately perceive the user's posture and movement, resulting in errors and inaccuracies. In addition, some factors such as clothing and skin color may also affect the reliability of recognition. Summary of the invention

[0005] The purpose of this application is to propose a robot control method and its device, and an operating device, so as to improve the reliability of identifying and tracking the user's posture and movements in the human-machine interaction of the robot arm.

[0006] To achieve the above object, according to a first aspect of the present application, a robot control method is proposed, the method comprising:

[0007] Acquiring coordinate system information of a plurality of inertial measurement units; one inertial measurement unit of the plurality of inertial measurement units is worn on the torso of the operator, and the remaining inertial measurement units are worn on the arms of the operator;

[0008] Acquire the current torso posture and current arm posture of the operator collected by multiple inertial measurement units;

[0009] The operator's arm motion information is acquired according to the coordinate system information, the current torso posture and the current arm posture, and the robot's mechanical arm movement is controlled according to the arm motion information.

[0010] According to a second aspect of the present application, a robot control device is provided, the device comprising:

[0011] A coordinate system information acquisition module, used to acquire coordinate system information of a plurality of inertial measurement units; one inertial measurement unit of the plurality of inertial measurement units is worn on the torso of the operator, and the remaining inertial measurement units are worn on the arms of the operator;

[0012] A real-time posture information acquisition module is used to obtain the operator's current torso posture and current arm posture collected by multiple inertial measurement units;

[0013] The robot arm motion control module is used to obtain the operator's arm motion information according to the coordinate system information, the current torso posture and the current arm posture, and control the robot arm motion according to the arm motion information.

[0014] According to a third aspect of the present application, a robot control device is provided, comprising:

[0015] A communication interface, used to communicate with other electronic devices;

[0016] a memory for storing computer program instructions;

[0017] A processor is used to execute the computer program instructions to support the robot control device to implement the method according to the first aspect.

[0018] According to a fourth aspect of the present application, a robot operating device is provided, the robot operating device is used for an operator to operate a robot, the robot operating device comprises a communication module and a plurality of inertial measurement units connected to the communication module, one inertial measurement unit of the plurality of inertial measurement units is worn on the torso of the operator, and the remaining inertial measurement units are worn on the arms of the operator;

[0019] An inertial measurement unit worn on the torso of the operator is used to collect the current torso posture of the operator and send the current torso posture to the communication module;

[0020] An inertial measurement unit worn on the operator's arm is used to collect the operator's current arm posture and send the current arm posture to the communication module;

[0021] The communication module is used to send the current torso posture and the current arm posture to the robot to request the robot to obtain the operator's arm motion information based on the current torso posture, the current arm posture and the coordinate system information of multiple inertial measurement units, and control the robot's mechanical arm movement according to the arm motion information.

[0022] The above-mentioned robot control method, device and operating equipment have the following beneficial effects:

[0023] Multiple inertial measurement units (IMUs) are used as the robot's operating equipment. One IMU is fixed on the operator's torso, and the other IMUs are fixed on the operator's left and right arms. The IMU can accurately measure the motion state information of its location, including rotation angle and acceleration. Based on the rotation angle and acceleration, the real-time position information of the operator's torso and arms can be determined. Since the IMU is directly worn on the operator's body, the data collected by the IMU is not easily affected by the external environment (such as light, background clutter, etc.). Furthermore, based on the coordinate system information and real-time position information of multiple IMUs, the relative motion relationship between the operator's torso and arms can be determined, and the operator's arm motion information can be accurately obtained, reducing the errors caused by factors such as clothing and skin color. Finally, based on the arm motion information, the robot's mechanical arm is controlled to perform corresponding movements, that is, the arm motion is mapped to the mechanical arm. In summary, the reliability of user posture and motion recognition and tracking in the human-machine interaction of the robot arm is significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is a flow chart of a robot control method in one embodiment of the present application.

[0026] Figure 2 This is a schematic diagram of a robot control device in one embodiment of the present application. DETAILED DESCRIPTION

[0027] The detailed description of the drawings is intended as an illustration of the current embodiment of the present application, and is not intended to represent the only form in which the present application can be implemented. It should be understood that the same or equivalent functions can be accomplished by different embodiments intended to be included in the spirit and scope of the present application.

[0028] See also Figure 1 An embodiment of the present application provides a robot control method, which can be applied to the motion control of a robot arm. The method of this embodiment is based on a control device set on the robot to perform the method steps. Specifically, the method of this embodiment includes the following steps:

[0029] Step S10, obtaining coordinate system information of a plurality of inertial measurement units; one inertial measurement unit of the plurality of inertial measurement units is worn on the torso of the operator, and the remaining inertial measurement units are worn on the arms of the operator.

[0030] Specifically, in this embodiment, it is first necessary to fix multiple inertial measurement units (IMUs) on the operator's body according to design requirements. Specifically, one IMU is fixed on the operator's torso, such as the chest, and the remaining IMUs are fixed on key positions of the left and right arms. Since different operators have different body shapes, after the operator wears multiple IMUs, it is necessary to first obtain the coordinate system information of the multiple IMUs so that the initial position state of each IMU under the operator's initial posture can be determined according to the coordinate system information. The control device can obtain the coordinate system information of the multiple IMUs from an external device through remote communication.

[0031] Step S20, obtaining the current torso posture and current arm posture of the operator collected by multiple inertial measurement units.

[0032] Specifically, after obtaining the coordinate system information of multiple IMUs, you can start to manipulate the robot's robotic arm. The operator makes movements with his arm to remotely control the robotic arm to make the same movements. Multiple IMUs measure the operator's current torso posture and current arm posture in real time, and transmit the current torso posture and current arm posture to the robot's control device through remote communication.

[0033] Step S30, acquiring the operator's arm motion information according to the coordinate system information, the current torso posture and the current arm posture, and controlling the movement of the robot's mechanical arm according to the arm motion information.

[0034] Specifically, it is convenient to combine the current torso posture and current arm posture measured by real-time IMU to determine what arm movements the operator has made.

[0035] The coordinate system information defines a local coordinate system for each IMU, which is fixed relative to the operator's body parts and represents the initial direction and position of the IMU. The current trunk posture refers to the posture (position and direction) of the IMU fixed on the operator's trunk at the current moment, and this posture can be calculated in real time through the measurement data of the IMU (acceleration, gyroscope and magnetometer data). The current arm posture refers to the posture of the IMU fixed on the operator's arm at the current moment. Similarly, these postures can be calculated in real time through the measurement data of the IMU (acceleration, gyroscope and magnetometer data). According to the coordinate system information, the current trunk posture and the current arm posture, the relative movement of the operator's arm, such as bending and stretching of the arm, can be calculated.

[0036] It should be noted that the movement of the arm should be considered relative to the torso. Even if the arm does not move relative to the torso, the movement of the torso will cause the arm's IMU to measure movement. In this embodiment, the IMU on the torso provides a reference frame that can be used to distinguish the actual movement of the arm from the relative movement caused by the movement of the torso. When the torso moves, the data of the torso IMU can be used to correct the data of the arm IMU, thereby more accurately identifying the actual movement of the arm.

[0037] For example, suppose the operator takes a few steps forward. The torso IMU will detect forward and upward acceleration, while the arm IMU may detect pseudo-motion due to body movement. If only the data from the arm IMU is considered, it will be mistakenly believed that the arm has moved forward. However, if the data from the torso IMU is combined, the movement of the torso can be identified and the data from the arm IMU can be adjusted accordingly, thereby correctly identifying that the arm has not actually moved. In this way, the operator's intentions can be more accurately understood and interpreted, thereby improving the accuracy and reliability of human-computer interaction, which is very important for application scenarios that require precise control, such as remote operation, virtual reality interaction, and auxiliary equipment control.

[0038] In some embodiments, step S10 includes:

[0039] Obtain the coordinate system information by subscribing to a topic;

[0040] Specifically, in this embodiment, the control device of the robot obtains the coordinate system information from the publisher (the device that maintains and updates the coordinate system information) by subscribing to a topic.

[0041] The coordinate system information includes a parent coordinate system of an inertial measurement unit worn on the operator's torso, a child coordinate system of multiple inertial measurement units worn on the operator's arms, and a conversion relationship between the parent coordinate system and the child coordinate systems; the coordinate system information is obtained by calibration based on the operator assuming a preset posture after the operator wears the multiple inertial measurement units on the torso and arms.

[0042] Specifically, the parent coordinate system refers to the coordinate system of the IMU fixed on the operator's torso. Since the torso is relatively stable, it is used as a reference coordinate system; the child coordinate system refers to the coordinate system of the IMU fixed at each key position on the operator's arm. Each IMU at each key position on each arm has its own independent child coordinate system. The conversion relationship refers to the conversion relationship between the parent coordinate system and each child coordinate system, including rotation and translation. These conversion relationships are determined during the calibration process and are used to convert the data in the child coordinate system to the parent coordinate system.

[0043] During the calibration process, the operator wears multiple IMUs at various key positions on the torso and arms according to the design requirements. The operator poses a preset posture, such as T-pose, because in this posture, the positional relationship of various parts of the body is fixed, which is convenient for calibration.

[0044] The specific postures of T-pose include:

[0045] The operator needs to stand with feet together and toes facing forward;

[0046] The operator's arms need to be straightened and as perpendicular to the body as possible, so that the arms and torso form a "T" shape, with the left hand straightened to the left and the right hand straightened to the right;

[0047] The operator's palm usually faces forward, that is, the palm is parallel to the ground and the thumb faces outward;

[0048] The operator's head should be kept upright, with eyes looking forward and as level as possible.

[0049] In the T-pose, the measurement data of each IMU is recorded, and the initial position and orientation of each IMU's coordinate system relative to the parent coordinate system are calculated. Through these data, the transformation relationship between the parent coordinate system and the child coordinate system is established. After the calibration is completed, the publisher publishes the coordinate system information to the corresponding topic, and the robot's control device can subscribe to this information. In this way, the robot control device can obtain real-time coordinate system information and use it to control the robot's mechanical arm to replicate the operator's arm movements, which ensures the accuracy and responsiveness of the robot's movements.

[0050] The following is a simplified example of how to determine arm motion information based on the coordinate system information obtained based on T-pose calibration and the real-time torso pose and real-time arm pose:

[0051] (1) T-pose calibration:

[0052] Assuming that an IMU is fixed to the torso, left arm, and right arm respectively, the operator performs calibration under T-pose and obtains the following coordinate system information: torso coordinate system T (parent coordinate system), left arm coordinate system L (child coordinate system), left arm coordinate system R (child coordinate system). Under T-pose, the transformation matrix of each arm coordinate system relative to the torso coordinate system is calculated, recorded as M_L_T (left arm to torso) and M_R_T (right arm to torso);

[0053] (2) Real-time data collection:

[0054] When the operator performs actions, the real-time torso posture Pose_T, the real-time left arm posture Pose_L and the real-time right arm posture Pose_R are collected in real time;

[0055] (3) Posture data processing:

[0056] Use Pose_T to update the state of the torso coordinate system, convert the real-time pose Pose_L of the left arm to the torso coordinate system through M_L_T to obtain Pose_L relative to T, and convert the real-time pose Pose_R of the right arm to the torso coordinate system through M_R_T to obtain Pose_R relative to T. Further, compare Pose_L relative to T and the initial pose under T-pose to obtain the motion information of the left arm (such as rotation angle, translation distance, etc.). Similarly, compare Pose_R relative to T and the initial pose under T-pose to obtain the motion information of the right arm.

[0057] (4) Control the robot:

[0058] According to the motion information of the left arm, the joint angle and position of the robot's left mechanical arm are calculated, and a control instruction is sent; according to the motion information of the right arm, the joint angle and position of the robot's right mechanical arm are calculated, and a control instruction is sent;

[0059] For example, after the operator is calibrated under T-pose, he starts to raise his left arm forward. The real-time torso posture Pose_T shows that the torso has not moved significantly, and the real-time left arm posture Pose_L shows that the left arm is raised forward 30 degrees. Through the transformation matrix M_L_T, Pose_L is converted to the posture Pose_L relative to T in the torso coordinate system. Since the torso has not moved, Pose_L relative to T directly reflects the movement of the left arm relative to T-pose, and recognizes that the left arm is raised forward 30 degrees. Based on this, the control instructions of the robot's left robotic arm are generated to imitate the same action. In this way, the operator's arm movements can be accurately recognized and copied to the robot.

[0060] In some embodiments, the method further comprises:

[0061] Image information collected by a camera of the robot is obtained, and the image information is sent to virtual reality (VR) glasses for display; the virtual reality glasses are worn on the eyes of the operator.

[0062] Specifically, in the method of this embodiment, the control device of the robot also obtains image information taken by the robot in real time, and transmits the image information to the VR glasses through remote communication for display. Through the VR glasses, the operator can see the robot's visual environment, which helps the operator to better understand the robot's movements and surrounding environment during remote operation.

[0063] In some embodiments, the remaining inertial measurement units include six inertial measurement units, and the six inertial measurement units are respectively worn on the shoulders, elbows and wrists of the left and right arms of the operator.

[0064] Specifically, in this embodiment, six IMUs are respectively worn at specific positions of the operator's left and right arms, namely, shoulders, elbows, and wrists. Such a configuration is intended to accurately capture the complex movements of the arms. The left shoulder IMU is located on the operator's left shoulder to capture the movement and rotation of the left shoulder; the right shoulder IMU is located on the operator's right shoulder to capture the movement and rotation of the right shoulder; the left elbow IMU is located on the operator's left elbow to capture the bending and extension of the left elbow; the right elbow IMU is located on the operator's right elbow to capture the bending and extension of the right elbow; the left wrist IMU is located on the operator's left wrist to capture the rotation and translation of the wrist; the right wrist IMU is located on the operator's right wrist to capture the rotation and translation of the wrist.

[0065] It should be noted that by installing IMUs on the shoulder, elbow and wrist respectively, the three-dimensional movement of the arm can be fully captured, including flexion and extension, adduction and abduction, pronation and supination, etc. Each IMU can provide specific motion data of its part. Combined with the data of the torso IMU, the movement of the entire arm can be analyzed more accurately.

[0066] In one embodiment, the IMU on the torso and the six IMUs on the left and right arms are connected to the VR glasses, the VR glasses communicate with the server, and the posture data measured by each IMU is output to the VR glasses, which are sent to the server by the VR glasses. After receiving these posture data, the server will process them to obtain the real-time torso posture and the posture of each real-time arm key position, and then send them to the robot's control device. VR glasses need to install the corresponding APP to provide content and services, and VR glasses usually need to interact with the server to download or update APP, obtain content, synchronize data, etc.

[0067] like Figure 2 As shown, another embodiment of the present application provides a robot control device, which corresponds to the method of the above embodiment and can be used to execute the method steps of the above embodiment. The device of this embodiment specifically includes:

[0068] A coordinate system information acquisition module 1 is used to acquire coordinate system information of multiple inertial measurement units; one inertial measurement unit of the multiple inertial measurement units is worn on the torso of the operator, and the remaining inertial measurement units are worn on the arms of the operator;

[0069] A real-time posture information acquisition module 2 is used to obtain the current torso posture and current arm posture of the operator collected by multiple inertial measurement units;

[0070] The robot arm motion control module 3 is used to obtain the operator's arm motion information according to the coordinate system information, the current torso posture and the current arm posture, and control the robot arm motion according to the arm motion information.

[0071] In some embodiments, the coordinate system information acquisition module 1 is used to obtain the coordinate system information by subscribing to a topic;

[0072] The coordinate system information includes a parent coordinate system of an inertial measurement unit worn on the operator's torso, child coordinate systems of multiple inertial measurement units worn on the operator's arms, and a conversion relationship between the parent coordinate system and the child coordinate systems;

[0073] The coordinate system information is obtained by calibration based on a preset posture of the operator after the operator wears the multiple inertial measurement units on the torso and arms.

[0074] In some embodiments, it also includes:

[0075] The image information acquisition module 4 is used to acquire image information collected by the camera of the robot and send the image information to the virtual reality glasses for display; the virtual reality glasses are worn on the eyes of the operator.

[0076] For example, the apparatus of this embodiment can be a software system, including computer program instructions for implementing various modules, wherein the computer program instructions instruct the computer device to perform operations corresponding to the robot control method described in the above embodiment, and these instructions are codes written in a computer program, which define how to perform specific operations. In this embodiment, these instructions are used to perform the robot control method of the above embodiment. These program instructions are designed to be loaded onto a computer device and instruct the device to perform specific operations, which refer to the various steps in the robot control method described in the above embodiment. In this way, the computer program product provides a complete software solution, which can be run on various computer devices to implement the robot control method of the above embodiment.

[0077] Another embodiment of the present application provides a robot control device, comprising:

[0078] A communication interface, used to communicate with other electronic devices;

[0079] a memory for storing computer program instructions;

[0080] A processor is used to execute the computer program instructions to support the robot control device to implement the method according to the above embodiment.

[0081] In this embodiment, the memory mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating device, an application required for at least one function, etc., and the data storage area can store related data, etc. In addition, the memory can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, and a flash card (FlashCard), etc., or the memory can also be other volatile solid-state storage devices.

[0082] The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the processor can be any conventional processor. The processor is the control center of the autonomous driving safety detection device, and uses various interfaces and lines to connect the various parts of the autonomous driving safety detection device.

[0083] Another embodiment of the present application provides a robot operating device, the robot operating device is used for an operator to operate a robot, the robot operating device includes a communication module and a plurality of inertial measurement units connected to the communication module, one of the plurality of inertial measurement units is worn on the torso of the operator, and the remaining inertial measurement units are worn on the arms of the operator;

[0084] An inertial measurement unit worn on the torso of the operator is used to collect the current torso posture of the operator and send the current torso posture to the communication module;

[0085] An inertial measurement unit worn on the operator's arm is used to collect the operator's current arm posture and send the current arm posture to the communication module;

[0086] The communication module is used to send the current torso posture and the current arm posture to the robot to request the robot to obtain the operator's arm motion information based on the current torso posture, the current arm posture and the coordinate system information of multiple inertial measurement units, and control the robot's mechanical arm movement according to the arm motion information.

[0087] In some embodiments, the communication module is a virtual reality glasses, which are worn on the operator's eyes and are used to obtain and display image information collected by the robot's camera.

[0088] It should be noted that the operating principle of the robot operating device of this embodiment has been described in detail in the description of the method of the above embodiment, so it will not be repeated in this embodiment.

[0089] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A robot control method, characterized in that: The method comprises: Acquiring coordinate system information of a plurality of inertial measurement units; one inertial measurement unit of the plurality of inertial measurement units is worn on the torso of the operator, and the remaining inertial measurement units are worn on the arms of the operator; Acquire the current torso posture and current arm posture of the operator collected by multiple inertial measurement units; The operator's arm motion information is acquired according to the coordinate system information, the current torso posture and the current arm posture, and the robot's mechanical arm movement is controlled according to the arm motion information.

2. The robot control method according to claim 1, characterized in that: The method comprises: Obtain the coordinate system information by subscribing to a topic; The coordinate system information includes a parent coordinate system of an inertial measurement unit worn on the operator's torso, child coordinate systems of multiple inertial measurement units worn on the operator's arms, and a conversion relationship between the parent coordinate system and the child coordinate systems; The coordinate system information is obtained by calibration based on a preset posture of the operator after the operator wears the multiple inertial measurement units on the torso and arms.

3. The robot control method according to claim 1, characterized in that: The method further comprises: The image information collected by the camera of the robot is obtained, and the image information is sent to the virtual reality glasses for display; the virtual reality glasses are worn on the eyes of the operator.

4. The robot control method according to claim 1, characterized in that: The remaining inertial measurement units include six inertial measurement units, and the six inertial measurement units are respectively worn on the shoulders, elbows and wrists of the left and right arms of the operator.

5. A robot control device, characterized in that: The device comprises: A coordinate system information acquisition module, used to acquire coordinate system information of a plurality of inertial measurement units; one inertial measurement unit of the plurality of inertial measurement units is worn on the torso of the operator, and the remaining inertial measurement units are worn on the arms of the operator; A real-time posture information acquisition module is used to obtain the operator's current torso posture and current arm posture collected by multiple inertial measurement units; The robot arm motion control module is used to obtain the operator's arm motion information according to the coordinate system information, the current torso posture and the current arm posture, and control the robot arm motion according to the arm motion information.

6. The robot control device according to claim 5, characterized in that: The coordinate system information acquisition module is used to obtain the coordinate system information by subscribing to a topic; The coordinate system information includes a parent coordinate system of an inertial measurement unit worn on the operator's torso, child coordinate systems of multiple inertial measurement units worn on the operator's arms, and a conversion relationship between the parent coordinate system and the child coordinate systems; The coordinate system information is obtained by calibration based on a preset posture of the operator after the operator wears the multiple inertial measurement units on the torso and arms.

7. The robot control device according to claim 5, characterized in that: Also includes: The image information acquisition module is used to acquire image information collected by the robot's camera and send the image information to the virtual reality glasses for display; the virtual reality glasses are worn on the operator's eyes.

8. A robot control device, comprising: A communication interface, used to communicate with other electronic devices; a memory for storing computer program instructions; A processor is used to execute the computer program instructions to support the robot control device to implement the method according to any one of claims 1 to 4.

9. A robot operating device, characterized in that: The robot operating device is used for an operator to operate a robot, and includes a communication module and a plurality of inertial measurement units connected to the communication module, wherein one inertial measurement unit of the plurality of inertial measurement units is worn on the torso of the operator, and the remaining inertial measurement units are worn on the arms of the operator; An inertial measurement unit worn on the torso of the operator is used to collect the current torso posture of the operator and send the current torso posture to the communication module; An inertial measurement unit worn on the operator's arm is used to collect the operator's current arm posture and send the current arm posture to the communication module; The communication module is used to send the current torso posture and the current arm posture to the robot to request the robot to obtain the operator's arm motion information based on the current torso posture, the current arm posture and the coordinate system information of multiple inertial measurement units, and control the robot's mechanical arm movement according to the arm motion information.

10. The robot operating device according to claim 9, characterized in that: The communication module is a virtual reality glasses, which are worn on the operator's eyes and are used to obtain and display image information collected by the robot's camera.

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