A human-machine collaborative remote control method and device based on active power guidance

Abstract

The present invention discloses a method and device for human-machine collaborative remote operation control based on active force guidance. The present invention outputs an event trigger signal through a resettable foot pedal to control the event trigger state, controls the establishment and cancellation of the mapping of the master-slave end devices according to the event trigger state, and the operator realizes master-slave remote operation control by coordinating hands and feet; through an improved artificial potential field, the guiding force of the slave end device is mapped to the master end operating device, and guided by the compliant interaction between the force feedback device and the operator, human-machine collaborative remote operation control with compliant active force guidance is realized. The present invention solves the problem of mismatch between the master and slave workspaces faced in the remote operation process, and establishes a guiding force potential field guided by the slave end target position trajectory, maps the guiding force to the master end controller, improves the guiding force model to realize compliant active force guidance, combines human decision-making ability with the control ability of the robotic arm, realizes human-machine collaborative remote operation control, and ensures that the remote operation is efficient, intuitive, and stable.

Description

Technical Field

[0001] The present invention relates to a human-machine collaborative teleoperation control method in the field of teleoperated robots, and in particular to a human-machine collaborative teleoperation control method and device based on active force guidance. Background Art

[0002] Currently, with the continuous development of intelligent manufacturing technology, robots have shown tremendous potential in the industrial sector. Especially in high-risk environments, robots are increasingly replacing human operators in remote operations, ensuring the safety of workers. Furthermore, in scenarios such as industrial assembly requiring high precision and heavy weights, robots offer unique advantages over traditional manual labor, making them better suited for tasks such as assembly and commissioning. Teleoperation technology establishes a posture mapping relationship between the operator and the robot, accurately mapping the operator's position and posture to the robot, enabling the operator to remotely operate the robot to perform tooling tasks.

[0003] However, most current teleoperation systems suffer from common defects such as mismatch between master and slave workspaces, low operating efficiency, and non-intuitive operation, which pose challenges to their widespread application in the industrial field.

[0004] Therefore, it is urgent to design a control method to improve the efficiency of teleoperation through human-machine collaborative control. Summary of the Invention

[0005] To address the above-mentioned technical problems, the present invention provides a human-machine collaborative teleoperation control method and device based on active force guidance. First, the present invention addresses the problem of mismatched teleoperation master-slave postures. By introducing a foot pedal to change the enable signal output in the teleoperation system, determining the event trigger state, and controlling the start and stop of the master-slave posture mapping, the present invention achieves accurate mapping of the master-end device workspace to each slave-end task subspace. Second, to address the low efficiency of teleoperation operations, the present invention improves the traditional artificial potential field model and proposes a compliant artificial force field control method. Specifically, based on the ideal trajectory of the slave-end target, the artificial force field of the slave-end device is mapped to the force guidance link of the master-end in the teleoperation system to achieve efficient and accurate teleoperation trajectory guidance. Under the guidance of the master-end compliant force, the operator is guaranteed to control the master-end device to move along the main guided path, while also having a certain motion mapping capability in directions that deviate from the path. Combining the flexible decision-making ability of humans with the control accuracy of robots, the present invention solves the problem of low teleoperation efficiency and can meet the operational needs of special and high-risk environments. It is safe, efficient, practical, and has good market application prospects.

[0006] The technical solution adopted in the present invention is:

[0007] 1. A Human-Machine Collaborative Teleoperation Control Method Based on Active Force Guidance

[0008] Step 1: Construct the guiding force potential field of the slave end according to the ideal trajectory of the slave end manipulator;

[0009] Step 2: Install a resettable foot pedal at the master end and use it as an event trigger switch. According to the event trigger status, the mapping of the master and slave end devices and the establishment and cancellation of the active power guidance are controlled to realize the operator's remote control.

[0010] In step 1, the guiding force potential field of the slave end satisfies the following formula:

[0011]

[0012] ρ=ρ(q,q g )

[0013] Among them, U att (q) represents the guiding force potential field, ρ is the distance between the moving point q and the target point q in the potential field g The vector between the two points, ρ() represents the vector calculation function between the two points, ρ m is the distance between the moving point and the target point in the initial state, η is the gain coefficient;

[0014] The step 2 is specifically as follows:

[0015] If the resettable foot pedal is not triggered, the slave-end robotic arm is in a stationary state; if the resettable foot pedal is triggered, the position and posture of the master-end teleoperation master hand and the slave-end robotic arm are obtained, the position and posture of the master-end teleoperation master hand is mapped to the slave-end robotic arm and the position and posture of the slave-end robotic arm are updated to realize teleoperation control under human-machine collaboration; and the guiding force of the slave-end robotic arm is calculated according to the position of the slave-end robotic arm and the guiding force is mapped to the master-end teleoperation master hand to complete the human-machine collaborative teleoperation control under the guidance of the main force.

[0016] From time t to time t+i, the position of the slave manipulator satisfies the following formula:

[0017] P s (t+i)=P s (t)+k·ΔP m (i)

[0018]

[0019] Where k is the scaling factor, P s (t+i) and P s (t) are the positions of the slave manipulator at time t and time t+i, respectively, Q s (t+i) and Q s(t) are the postures of the slave manipulator at time t and time t+i, ΔP m (i) is the position change of the teleoperator from time t to time t+i, ΔQ m (i) is the change in the posture of the teleoperation master hand from time t to time t+i, is quaternion multiplication.

[0020] The calculation formula of the guiding force of the slave end robot arm is as follows:

[0021]

[0022] Among them, F att (q) is the gradient of the gravitational field, ρ is the gradient between the moving point q and the target point q in the potential field g The vector between m is the distance between the moving point and the target point in the initial state, and η is the gain coefficient.

[0023] 2. A Human-Machine Collaborative Teleoperation Control Device Based on Active Power Guidance

[0024] The device includes a robotic arm control cabinet, a switch, a remote control master hand, a resettable foot pedal and a slave robotic arm; the slave robotic arm is connected to the robotic arm control cabinet, the robotic arm control cabinet is connected to the switch, the switch is connected to the terminal, the remote control master hand is connected to the terminal, and the remote control master hand is connected to the resettable foot pedal.

[0025] The remote control master hand is connected to the resettable pedal via an external expansion board.

[0026] The external expansion board reserves interfaces 0-5, interface 0 is a VCC interface, and interfaces 1-5 are signal interfaces for connecting different devices.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The present invention proposes a novel incremental posture teleoperation mapping strategy based on foot pedals. It uses a resettable foot pedal to adjust the enable state and determine the establishment and interruption of posture mapping, solving the problem of mismatch between the workspaces of master and slave teleoperation devices and realizing refined large-scale teleoperation control.

[0029] 2. The present invention improves the artificial potential field model, maps the guiding force of the artificial potential field to the main terminal device of the remote operation system, and uses the potential field force as the active guiding force to provide the operator with a flexible force to guide the operating robot to move toward the target position, thereby solving the problem of low remote operation efficiency and realizing efficient remote operation control under human-machine collaboration. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1Schematic diagram of the control device of the present invention.

[0031] Figure 2 This is the wiring diagram of the control device of the present invention.

[0032] Figure 3 This is a wiring diagram of the remote control main arm expansion board of the present invention.

[0033] Figure 4 This is a flow chart of the control method of the present invention.

[0034] Figure 5 This is a schematic diagram of the master-slave mapping of the present invention.

[0035] Figure 6 This is a schematic diagram of the guiding force calculation of the present invention.

[0036] Figure 7 This is a schematic diagram of remote operation under the guidance of active power of the present invention.

[0037] In the figure: robotic arm control cabinet 1, switch 2, remote control master hand 3, resettable foot pedal 4, robotic arm 5, laptop computer 6, first connecting line 701, second connecting line 702, third connecting line 703, fourth connecting line 704, fifth connecting line 705, remote control master hand expansion board output interface 801, remote control master hand expansion board input interface 802. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] The present invention proposes a human-machine collaborative remote control device based on active force guidance, such as Figure 1 and Figure 2 As shown, the device includes a robotic arm control cabinet 1, a switch 2, a remote control master hand 3, a resettable foot pedal 4 and a slave robotic arm 5; the slave robotic arm 5 includes six rotating joints and has six degrees of freedom. A mechanical gripper is installed at the end for grasping operations. The slave robotic arm 5 is connected to the robotic arm control cabinet 1 through a fifth connecting line 705, the robotic arm control cabinet 1 is connected to the switch 2 through a first connecting line 701, the switch 2 is connected to the terminal (such as a laptop computer 6) through a second connecting line 702, the remote control master hand 3 is connected to the terminal (such as a laptop computer 6) through a third connecting line 703, and the remote control master hand 3 is connected to the resettable foot pedal 4 through a fourth connecting line 704, ensuring that the wiring between each device is correct, safe, stable and in compliance with the specifications.

[0040] The remote control master hand 3 is connected to the resettable pedal 4 through an external expansion board. The resettable pedal 4 is used as a switch for the event trigger state of the present invention. The wiring between the remote control master hand 3 is as follows: Figure 3 shown. Figure 3In the example, the wiring leading from the remote-control master expansion board's output interface 801 connects to the remote-control master 3, outputting an enable signal to the remote-control master. The remote-control master expansion board's input interface 802 receives input signals. The external expansion board reserves interfaces 0-5, with interface 0 being the VCC interface and interfaces 1-5 being signal interfaces. These interfaces can connect to different devices and meet the requirements of different control strategies. In this embodiment, interface 1 connects to the resettable pedal 4, which is used to obtain the resettable pedal 4's status, output an enable signal, and control the event triggering state.

[0041] The present invention proposes a human-machine collaborative teleoperation control method based on active force guidance, such as Figure 4 As shown, by real-time detection of event triggering status, the master device workspace is accurately mapped to each sub-workspace of the slave device, and the guiding force is updated in real time through the guiding potential field to guide the operator's master end. The method includes the following steps:

[0042] Step 1: Construct the guiding force potential field of the slave end according to the ideal trajectory of the slave end manipulator;

[0043] The traditional artificial potential field applies the resultant force to the controlled object itself, directly controlling the movement of the controlled object. Based on the traditional artificial potential field model, only the gravitational potential field is considered. In the teleoperation system, the potential field gravitational force is mapped to the master-end operating device to guide the operator to control the movement of the slave-end manipulator. However, under the traditional artificial potential field model, the guiding force perceived by the operator is linear. When operating through the teleoperation system, the linear model will cause oscillation at the end of the guiding trajectory, reducing the operator's comfort and the accuracy of the guidance. The present invention establishes an artificial potential field based on the mission target trajectory at the slave end, maps the artificial potential field force to the master-end operating device to guide the operator's movement, and based on the operating force characteristics during the teleoperation process, the present invention designs a sinusoidal control method and applies it to the artificial potential field to obtain a guiding force potential field, so as to make the gravitational potential field smooth and improve the operator's operating comfort and safety. Specifically, at the beginning of the guidance trajectory, when the guidance force is large, the rate of change of the guidance force is weakened to ensure that the operator can better adapt to the change of the guidance force at the beginning; at the end of the guidance trajectory, when the guidance force is small, the rate of change of the guidance force is also weakened to ensure that the operator has a more comfortable operating space before the end of the guidance, which can effectively avoid the generation of oscillation. The guidance force potential field of the slave end satisfies the following formula:

[0044]

[0045] ρ=ρ(q,q g )

[0046] Among them, U att (q) represents the guiding force potential field, ρ is the distance between the moving point q and the target point q in the potential field gThe vector between the two points is the Euclidean distance between the two points, and the direction is from the moving point to the target point. ρ() represents the vector calculation function between the two points. m is the distance between the moving point and the target point in the initial state, that is, the maximum distance, and η is the gain coefficient, which is used to adjust the range of the guiding force;

[0047] The corresponding gravity is the gradient of the gravitational field, which represents the fastest changing direction of the gravitational potential field function:

[0048]

[0049] Among them, F att (q) is the gradient of the gravitational field, is the gradient.

[0050] By finding the gradient of the gravitational field, we can get the rate of change f of the guiding force:

[0051]

[0052] Therefore, at the beginning and end of the guidance trajectory, ρ = ρ m When and ρ = 0, the gravitational field gradient value is 0, that is, the change of the guiding force at the beginning and end of the guidance is small, and the guiding force change felt by the operator is more comfortable, providing the operator with a smooth active guiding force.

[0053] Step 2: Install a resettable foot pedal 4 at the master end and use the resettable foot pedal 4 as an event trigger switch. According to the event trigger status, the mapping of the master and slave end devices and the establishment and cancellation of the main power guidance are controlled to achieve coordinated, intuitive and efficient remote operation control of the operator's hands and feet.

[0054] Step 2 is as follows:

[0055] If the resettable foot pedal 4 is not triggered, the slave-end robotic arm is in a stationary state; if the resettable foot pedal 4 is triggered, the posture of the master-end teleoperation master hand 3 and the slave-end robotic arm is obtained, the posture of the master-end teleoperation master hand 3 is mapped to the slave-end robotic arm and the posture of the slave-end robotic arm is updated to realize teleoperation control under human-machine collaboration; and the guiding force of the slave-end robotic arm is calculated according to the position of the slave-end robotic arm and the guiding force is mapped to the master-end teleoperation master hand 3 to complete the human-machine collaborative teleoperation control under the guidance of the main force.

[0056] The positions of the master and slave devices in a teleoperation system should be consistent. The teleoperation master hand and the slave manipulator in this system are heterogeneous, and a one-to-one correspondence between the joints cannot be established. Therefore, a Cartesian space mapping method is adopted. The details are as follows:

[0057] First, obtain the position and posture coordinates of the teleoperation master hand relative to the world coordinate system, which are denoted as P m With Qm ; and respectively obtain the position and posture coordinates of the slave manipulator relative to the base coordinate system, respectively denoted as P s With Q s ;

[0058] Next, obtain the enabling state of the resettable pedal at time t, denoted as E(t):

[0059]

[0060] Then, calculate the changes in the position and posture of the teleoperation master hand from time t to time t+i, and satisfy the following formulas respectively:

[0061] ΔP m (i) = P m (t+i)-P m (t)

[0062]

[0063] Among them, P m (t+i) and P m (t) are the positions of the teleoperation master at time t and time t+i, respectively, Q m (t+i)Q m (t) are the postures of the teleoperation master hand at time t and time t+i respectively.

[0064] The mapping relationship between the master and slave devices is then determined based on the enabling state E of the resettable foot pedal. If E(t) = 0, even if the enabling state is not triggered and the master-slave mapping relationship is not established, the posture state of the slave manipulator from time t to time t+i is:

[0065] P s (t+i)=P s (t)

[0066] Q s (t+i)=Q s (t)

[0067] That is, the position of the slave manipulator remains unchanged; if E(t) = 1, the state is triggered and the master-slave mapping relationship is established, then from time t to time t+i, the position of the slave manipulator satisfies the following formula:

[0068] P s (t+i)=P s (t)+k·ΔP m (i)

[0069]

[0070] That is, the posture changes of the slave end manipulator and the master end teleoperation device are consistent, where k is the proportional factor, which can adjust the posture mapping ratio. The larger k is, the faster the movement speed of the slave end manipulator is when the master end teleoperation device moves at the same speed. The size of the proportional factor k can be adjusted according to actual needs. By default, k = 1, P s (t+i) and P s (t) are the positions of the slave manipulator at time t and time t+i, respectively, Q s (t+i) and Q s (t) are the postures of the slave manipulator at time t and time t+i, ΔP m (i) is the position change of the teleoperator from time t to time t+i, ΔQ m (i) is the change in the posture of the teleoperation master hand from time t to time t+i, is quaternion multiplication.

[0071] The application state of the active guiding force is controlled based on the event trigger state of the resettable pedal. When the pedal is pressed, the event is triggered, and a real-time and continuous active guiding force is applied to the teleoperation master device. When the pedal is released, the event is not triggered, and no guiding force is applied to the teleoperation master device. The calculation formula of the guiding force of the slave end manipulator is as follows:

[0072]

[0073] Among them, F att (q) is the gradient of the gravitational field, ρ is the gradient between the moving point q and the target point q in the potential field g The vector between them is the Euclidean distance between the two points, and its direction is from the moving point to the target point. m is the distance between the moving point and the target point in the initial state, that is, the maximum distance, and η is the gain coefficient, which is used to adjust the range of the guiding force.

[0074] Figure 5 The figure shows an example of the master-slave mapping relationship in the teleoperation system of the present invention. The working space of the master device is W m , the main terminal equipment in the workspace is controlled by the operator by P m0 Move to P m1 The workspace of the slave manipulator is divided into a series of sub-workspaces W s0 、W s1 、W s2 ...Under the control of the master device, the slave robot arm is controlled by P s0 Move to P s1 , by P s1 Move to P s2 .

[0075] Figure 6The figure shows the schematic diagram of the guidance force calculation in the teleoperation system of the present invention. The manipulator moves from the starting point S0 to the target point S under the control of the master device. n , the ideal shortest motion path is l n ,Since the guiding force does not impose a mandatory constraint on the operation path, during the actual operation, the robot arm moves along the path l s Move to S i At this time, the distance between the manipulator and the target position can be divided into axial distance and normal distance along the ideal path. The guiding forces calculated according to the guiding potential field are F t and F n Calculate the resultant force of the guiding force and apply it to the main end operating device to guide the robot arm to S i+1 Position moved.

[0076] Figure 7 The figure shows the teleoperation under the guidance of the main power of the present invention. Figure 7 As shown, the specific implementation steps of the present invention are as follows:

[0077] Step 1: Read the posture information P according to the control function of the teleoperation master hand 3 m and Q m , and read the enable state signal E of the resettable pedal 4 in real time, and read the posture information P according to the control function of the slave end manipulator 5 s and Q s , assuming that the teleoperation master hand 3 is at point M0, the slave manipulator 5 is at point S0, and the manipulator target point is S n Point, such as Figure 7 As shown, for intuitiveness, the figure only contains location information;

[0078] Step 2: The operator steps on the resettable pedal 4, the enable signal is triggered from 0 to 1, the system detects the event trigger, the master-slave device mapping relationship and the active force guidance model are established, and the system Figure 6 As shown in the figure, with Sn as the guidance target point, the potential field of the active guidance force is calculated, and the potential field force F is mapped to the master teleoperation device 3 in real time, guiding the operator to control the teleoperation master hand 3 to move from M0 to M1; at the same time, under the posture mapping of the master and slave devices, the slave manipulator 5 moves from S0 to S1;

[0079] Step 3: In the workspace of the teleoperated master hand 3, the operator controls the teleoperated master hand 3 to move to the boundary of the workspace. When it is inconvenient to continue operating, the operator releases the resettable pedal 4, and the enable signal changes from 1 to 0. The system detects that the event trigger state has ended, and the master-slave device mapping relationship and active force guidance are canceled. The operator controls the teleoperated master hand 3 to return from M1 to the initial M0. Since the mapping relationship is not established, the slave end manipulator 5 remains at point S1.

[0080] Step 4: After the operator controls the teleoperated master hand 3 to return to point M0, he steps on the resettable pedal 4 again, and the enable signal is triggered from 0 to 1 again. The system detects the event trigger, and the master-slave mapping relationship and the active force guidance model are established. At this time, the slave-end manipulator 5 calculates the real-time guidance force from point S1 and maps it to the master-end teleoperated device 3, guiding the operator's teleoperated manipulator arm to move to point Sn. Under the guidance of the active force, the operator controls the teleoperated master hand device 3 to move from M0 to M1; under the posture mapping of the master-slave end device, the slave-end manipulator 5 moves from S1 to S2.

[0081] Step 5: Repeat the above steps to establish and cancel the teleoperation mapping relationship and the active force guidance model through the event trigger mechanism. The slave task space is divided into a series of subspaces, and the operation guidance force under each subspace is calculated. The operator controls the teleoperation master device 3. Under the guidance of the active force, the teleoperation slave manipulator 5 moves from S0 to S1. n , the whole process is efficient and stable.

[0082] During the above-mentioned operation process, the target point of the teleoperation task can be determined according to the actual task requirements, and a guiding force potential field can be established in the workspace of the slave end manipulator. In combination with the event triggering strategy, the teleoperation task space is divided, and the active guiding force is calculated in real time in each task subspace to guide the operator to control the teleoperation device to move toward the target point. The guiding force shows a trend of smooth change, and the operation process is intuitive and reliable. The control strategy of the present invention completes the precise mapping of the workspace of the master and slave end devices through the coordinated control of the operator's hands and feet, and introduces a guiding force potential field model to guide the operator to operate intuitively and stably, thereby improving the execution efficiency of teleoperation operations and realizing efficient teleoperation control under human-machine collaboration.

[0083] Finally, it should be noted that the above embodiments and explanations are intended only to illustrate the technical solutions of the present invention and are not intended to limit the present invention. It should be understood by those skilled in the art that modifications or equivalent substitutions to the technical solutions of the present invention may be made without departing from the spirit and scope of the technical solutions disclosed herein, and all such modifications or equivalent substitutions shall be encompassed within the scope of protection of the claims of the present invention.

Claims

1. A remote operation method for a human-machine collaborative remote operation device based on active force guidance, characterized in that: Construct the guiding force potential field of the slave end according to the ideal trajectory of the slave end manipulator; The guiding force potential field at the slave end satisfies the following formula: in, represents the guiding force potential field, ρ is the distance between the moving point q and the target point q in the potential field g The vector between the two points, ρ( ) represents the vector calculation function between two points, ρ m is the distance between the moving point and the target point in the initial state, η is the gain coefficient; in, is the gradient of the gravitational field; If the resettable foot pedal (4) installed at the master end is not triggered, the slave end manipulator is in a stationary state; if the resettable foot pedal (4) is triggered, the positions of the master end teleoperation master hand (3) and the slave end manipulator are obtained, the position of the master end teleoperation master hand (3) is mapped to the slave end manipulator and the position of the slave end manipulator is updated, thereby realizing teleoperation control under human-machine collaboration; and the guiding force of the slave end manipulator is calculated according to the position of the slave end manipulator and the guiding force is mapped to the master end teleoperation master hand (3) to complete the human-machine collaborative teleoperation control under the guidance of the main force; The remote operation method specifically includes the following steps: Step 1: Read the posture information according to the control function of the teleoperation master hand P m and Q m , and read the enable status signal of the resettable pedal in real time E , read the posture information according to the control function of the slave robot arm P s and Q s ; Assume that the teleoperation master is at M 0 , the slave end robot arm is located at S 0 , the target point of the robot arm is S n ; Step 2: The operator steps on the resettable pedal, the enable state signal is triggered from 0 to 1, the event is detected, the master-slave mapping relationship and the active force guidance model are established, and the target point S n To guide the target point, the potential field of the active guiding force is calculated and the guiding force is mapped to the teleoperation master hand in real time, guiding the operator to control the teleoperation master hand. M 0 Move to workspace boundary M 1 At the same time, under the posture mapping of the master-slave mapping relationship, the slave end robot arm is S 0 Exercise to S 1 ; Step 3: In the teleoperation master's workspace, the operator controls the teleoperation master to move to the boundary of the workspace. The operator releases the resettable pedal, and the enable state signal changes from 1 to 0. The event trigger state is detected to end, the master-slave mapping relationship and the active force guidance model are cancelled, and the operator controls the teleoperation master to M 1 Back to the beginning M 0 , the slave arm remains at S 1 point; Step 4: The operator controls the teleoperation master hand to return to M 0 After clicking, step on the reset pedal again, the enable state signal is triggered from 0 to 1 again, the event trigger is detected, the master-slave mapping relationship and the active force guidance model are established, and the slave end robot arm is now S 1 Start calculating the real-time guidance force and mapping it to the teleoperation master hand, guiding the operator to teleoperate the robotic arm to the S n The operator controls the teleoperation master hand under the guidance of the main force. M 0 Exercise to M 1 ; Under the posture mapping of the master-slave mapping relationship, the slave end robot arm is S 1 Exercise to S 2 ; Step 5: Repeat the above steps. Under the guidance of the main force, the remote-controlled slave robot arm moves from the starting point to the S 0 Move to the target point S n .

2. The remote operation method of a human-machine collaborative remote operation device based on active force guidance according to claim 1, characterized in that: From time t to time t+i, the position of the slave manipulator satisfies the following formula: in, k is the scale factor, and They are t+i Moment and t The position of the slave robot arm at the moment, and They are t+i Moment and t The posture of the slave robot arm at the moment, for t Time has come t+i The change in position of the telecontrol master hand within a certain time period, for t Time has come t+i The change in the posture of the telecontrol master hand within a certain time period, is quaternion multiplication.

3. A human-machine collaborative teleoperation device based on active force guidance for implementing the teleoperation method according to claim 1, characterized in that: The invention comprises a manipulator control cabinet (1), a switch (2), a teleoperation master hand (3), a resettable foot pedal (4) and a slave manipulator (5); the slave manipulator (5) is connected to the manipulator control cabinet (1), the manipulator control cabinet (1) is connected to the switch (2), the switch (2) is connected to the terminal, the teleoperation master hand (3) is connected to the terminal, and the teleoperation master hand (3) is connected to the resettable foot pedal (4).

4. The human-machine collaborative teleoperation device based on active power guidance according to claim 3, characterized in that: The remote control main hand (3) is connected to the resettable foot pedal (4) via an external expansion board.

5. The human-machine collaborative teleoperation device based on active power guidance according to claim 4, characterized in that: The external expansion board reserves interfaces 0-5, interface 0 is a VCC interface, and interfaces 1-5 are signal interfaces for connecting different devices.

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