Remote control method and system for nuclear industrial robot and storage medium

Abstract

The invention discloses a remote control method and system for a nuclear industrial robot and a storage medium. The method comprises the following steps that motion information of control equipment is obtained; acquiring UWB positioning information of the control equipment; determining six-degree-of-freedom change information based on the motion information of the control equipment and the UWB positioning information; establishing a mapping relation between a nuclear industrial robot entity axis and the six-degree-of-freedom change information; and performing remote control on the nuclear industrial robot based on the mapping relation and the six-degree-of-freedom change information. An operator does not need to learn professional programming knowledge or operation guide, frequent button and rocker control is replaced by habitual gesture actions through the handheld control equipment, the collected gesture actions are converted into motion poses and operation action control messages of the robot or joints, efficient and convenient control can be achieved, and the control efficiency is improved. And the personnel learning cost can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power plant robot design, and in particular to a nuclear industry robot remote control method, system and storage medium. Background Art

[0002] Due to the particularity and complexity of the nuclear power site environment, nuclear power robot equipment has a high potential risk, and it is difficult for front-line operators to "see" the full picture of the operation site, which poses a challenge to the accuracy and safety of robot equipment control, resulting in slow start-up, high training costs, low operational proficiency, difficulty in accumulating control experience, and difficulty in adaptively implementing complex nuclear power operation actions for front-line operators. The most widely used application of nuclear power robot electrical command control is to directly use a customized control handle as a controller. The control handle adopts a combination control method of direction button + analog rocker + button. The combination changes are extremely complex, but the two-handed grip can only perform spatial operations with 4 degrees of freedom at the same time. The coordination requirements are high, the spatial sense is poor, and it is easy to cause misoperation. The operator needs to conduct a lot of scenario training to meet the requirements of the operation task. The study found that most nuclear power robot equipment is a stand-alone system based on a special configuration for specific operation tasks. Its motion accessibility in a specific environmental scenario is the basic performance, and the synchronous movement of the joints of each axis system in the nuclear power space is the core control task. The motion trajectory planning, calculation and realization in the nuclear power space coordinate system are basic technical issues. In addition, nuclear power robot equipment does not yet have sufficient intelligent decision-making capabilities to automatically perform special operations, and requires deep involvement of operators to collaborate to complete work tasks. The time and space differences between operators and robot equipment during nuclear power robot equipment operations will lead to a large amount of asymmetric and non-real-time information interaction. In addition, robot equipment requires "humans in the loop" to adapt to highly complex operating environments, so human-machine remote interaction is the main mode of operation of nuclear power robot equipment.

[0003] The existing patent CN118650623A discloses a nuclear power robot anti-rollover control method, system and nuclear power robot, the method comprising the following steps: obtaining the current inclination angle of the nuclear power robot and the current joint angle of the mechanical arm of the nuclear power robot; performing positive kinematics calculation according to the current inclination angle and the current joint angle to obtain the center of gravity position and bounding box posture of the nuclear power robot; judging whether the motion execution conditions are met based on the center of gravity position and the bounding box posture; if so, outputting a motion control signal based on the current joint angle to control the nuclear power robot to perform the motion; if not, performing stabilization control operation and collision avoidance control operation to obtain an updated joint angle; after obtaining the updated joint angle, continuing to calculate and judge until the motion execution conditions are met.

[0004] The existing patent CN114578820B discloses a method for controlling the trajectory of a nuclear power plant detection wall-climbing robot, and the steps are as follows: Step 1, configure the sensor; Step 2, constraint calculation; Step 3, start direction angle measurement; Step 4, initial alignment of the robot direction angle; Step 5, maintain the robot's direction of travel; Step 6, the robot turns.

[0005] In summary, the above two existing patents have not solved the problems faced by existing nuclear industry robots during remote control, such as complex operations, high requirements for operators, and difficulty in achieving efficient and convenient human-computer interaction. Summary of the invention

[0006] Based on the above technical problems, the present invention proposes a remote control method, system and storage medium for nuclear industry robots to solve the problems faced by the remote control of nuclear industry robots in the prior art, such as complex operation, high requirements for operators, and difficulty in achieving efficient and convenient human-computer interaction.

[0007] To achieve the above object, the present invention proposes a remote control method for a nuclear industry robot, comprising:

[0008] Get the motion information of the control device;

[0009] Obtain UWB positioning information of the control device;

[0010] Determine the six-degree-of-freedom change information based on the motion information of the control device and the UWB positioning information;

[0011] Establish the mapping relationship between the physical axis of the nuclear industry robot and the six-degree-of-freedom change information;

[0012] Remote control of nuclear industry robots is carried out based on mapping relationships and six-degree-of-freedom change information.

[0013] Furthermore, it also includes:

[0014] The control device is placed statically at a preset calibration position, the initial motion information of the control device in the initial calibration state is recorded, and the initial motion information is initialized.

[0015] Furthermore, obtaining the motion information of the control device includes:

[0016] The operator's motion information is captured by the control device, and the attitude data and acceleration information of the control device are determined based on the motion information, the attitude data including the yaw angle, the pitch angle and the roll angle, and the acceleration information including the real-time acceleration vector;

[0017] Based on the posture data and acceleration information, the motion information of the control device is determined, and the motion information includes the speed and position coordinates of the control device.

[0018] Further, based on the posture data and the acceleration information, determining the speed of the control device includes:

[0019] Determine a spatial transformation matrix of the control device relative to an initial calibration state based on the posture data;

[0020] Based on the real-time acceleration vector and the space conversion matrix, determine the relative acceleration vector of the control device relative to the initial calibration state;

[0021] The velocity of the control device relative to the initial calibration state is determined based on the relative acceleration vector.

[0022] Further, determining the position coordinates of the control device includes:

[0023] Based on the relative acceleration vector and velocity, the position coordinates of the control device relative to the initial calibration state are determined.

[0024] Furthermore, the spatial transformation matrix is ​​expressed as:

[0025]

[0026] in, is the yaw angle, θ is the pitch angle, and γ is the roll angle.

[0027] Furthermore, the relative acceleration vector is the product of the acceleration vector and the space transformation matrix.

[0028] Furthermore, the position coordinates of the control device relative to the initial calibration state are expressed as,

[0029]

[0030] in, is the position coordinate of the control device relative to the initial calibration state, To control the position coordinates of the device in the initial calibration state, To control the speed of the device in the x, y, and z directions, It is the relative acceleration vector of the control device in the x, y, and z directions.

[0031] Furthermore, obtaining UWB positioning information of the control device includes: obtaining coordinates of the base station and a first distance from the control device to each base station.

[0032] Furthermore, after obtaining the UWB positioning information of the control device, the method further includes: determining the UWB positioning coordinates of the control device by using a least square method based on the coordinates of the base station and the first distance.

[0033] Furthermore, based on the motion information of the control device and the UWB positioning information, six-degree-of-freedom change information is determined, including:

[0034] Determining a second distance between the control device and each base station based on the position coordinates of the control device relative to the initial calibration state;

[0035] Based on the first distance, the second distance and the posture data, six-degree-of-freedom change information is determined.

[0036] Furthermore, the second distance is determined by Formula 1, where:

[0037]

[0038] in, is the coordinate of the i-th UWB base station, is the coordinate of the control device at time k relative to the initial calibration state.

[0039] Further, based on the first distance, the second distance and the posture data, six-degree-of-freedom change information is determined, including:

[0040] Based on the second distance, performing data filtering processing on the first distance of the control device;

[0041] Based on the data filtering results and posture data, the six-degree-of-freedom change information is determined.

[0042] Further, based on the second distance, data filtering processing is performed on the first distance of the control device, including:

[0043] Determine whether the absolute value of the difference between the first distance and the second distance is less than a preset threshold;

[0044] If the absolute value of the difference between the first distance and the second distance is less than a preset threshold, the first distance is normal;

[0045] If the absolute value of the difference between the first distance and the second distance is greater than or equal to the preset threshold, the first distance is abnormal, the corresponding first distance is deleted, and the UWB positioning coordinates of the control device are re-solved.

[0046] Furthermore, a mapping relationship between the physical axis of the nuclear industrial robot and the six-degree-of-freedom change information is established, including:

[0047] When the number of physical axes of the nuclear industrial robot is 6, the six degrees of freedom change information The spatial position of the end of the nuclear industry robot One-to-one mapping;

[0048] When the number of physical axes of the nuclear industry robot is less than 6 and the nuclear industry robot system provides a standard terminal control interface, within the reachable range of the nuclear industry robot, the six degrees of freedom change information The spatial position of the end of the nuclear industry robot One-to-one mapping;

[0049] When the number of physical axes of the nuclear industry robot is less than 6, and the nuclear industry robot system does not provide a standard terminal control interface, the six-degree-of-freedom change information One-to-one mapping with the translational physical axis and / or rotational physical axis data of the nuclear industrial robot.

[0050] Furthermore, it also includes: correcting the posture data and space conversion matrix of the control device.

[0051] Furthermore, the posture data and space transformation matrix of the control device are corrected, including:

[0052] Based on the base installation angle and initial control direction of the nuclear industrial robot, the posture data of the control device is corrected by formula 2. The base installation angle includes the installation azimuth, installation pitch angle, and roll base installation angle. The initial control direction includes the initial control azimuth, initial control pitch angle, and roll initial control angle. Formula 2,

[0053]

[0054] θ ′ =θ-θ B -θ C

[0055] γ ′ =γ-γ B -γ C

[0056] in, θ ′ , γ ′ are the corrected yaw angle, pitch angle, and roll angle, respectively. θ B , γ B They are installation azimuth, installation pitch angle, and roll foundation installation angle. θ C , γ C They are initial control azimuth angle, initial control pitch angle, and initial control angle of roll respectively;

[0057] The space transformation matrix is ​​corrected based on the corrected posture data.

[0058] A nuclear industry robot remote control system, comprising:

[0059] A first acquisition module is used to acquire motion information of a control device;

[0060] The second acquisition module is used to obtain UWB positioning information of the control device;

[0061] A determination module, used to determine six-degree-of-freedom change information based on motion information of the control device and UWB positioning information;

[0062] A mapping module is used to establish a mapping relationship between the physical axis of the nuclear industrial robot and the six-degree-of-freedom change information;

[0063] The execution module is used to remotely control the nuclear industry robot based on the mapping relationship and six-degree-of-freedom change information.

[0064] A computer-readable storage medium includes a stored computer program, wherein the computer program can be executed by an electronic device when it is run.

[0065] A computer program product comprises a computer program, which implements the steps of the above method when executed by a processor.

[0066] An electronic device includes a memory and a processor, wherein a computer program is stored in the memory and the processor is configured to execute the above method through the computer program.

[0067] Based on the above technical solution, the present invention has at least the following beneficial effects:

[0068] 1. The present invention combines the motion information of the control device with the UWB positioning information to determine the six-degree-of-freedom change information. According to the mapping relationship between the physical axis of the nuclear industrial robot and the six-degree-of-freedom change information, the gesture actions collected by the sensor are converted into the motion posture and operation action control message of the robot or joint, so as to realize the remote control of the robot. For the operator, no professional programming knowledge or operation guide is required. The operator can replace the frequent button and joystick control with the habitual gesture actions to realize efficient and convenient control, which can reduce the learning cost of the personnel.

[0069] 2. In establishing the mapping relationship between the physical axes of the nuclear industrial robot and the six-degree-of-freedom change information, the present invention proposes to provide a standard terminal control interface for the robot system so that the control device can adaptively convert the upper-level user's somatosensory control actions into control commands supported by the nuclear power robot. For the nuclear power robot, complex electrical and software modifications are avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0071] Figure 1 A flowchart of a remote control method for a nuclear industry robot according to an embodiment of the present invention;

[0072] Figure 2 This is a schematic diagram of the UWB positioning principle;

[0073] Figure 3 A schematic structural diagram of a remote control system for a nuclear industry robot according to an embodiment of the present invention;

[0074] Figure 4 This is a schematic diagram of the principle of a remote control system for a nuclear industry robot in a specific embodiment of the present invention;

[0075] Figure 5 A schematic diagram of a human-machine interaction interface of a nuclear industry robot remote control system in a specific embodiment of the present invention;

[0076] Figure 6 A block diagram of a computer system structure of an electronic device for implementing an embodiment of the present application;

[0077] Figure 7 The figure is a schematic diagram of the structure of an electronic device used in a remote control system of a nuclear industry robot. DETAILED DESCRIPTION

[0078] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0079] The present invention is further described in detail below in conjunction with specific embodiments. These embodiments should not be construed as limiting the scope of protection claimed by the present invention.

[0080] Example

[0081] In order to solve the problems faced by existing nuclear industry robot remote control, such as complex operation, high requirements for operators, and difficulty in achieving efficient and convenient human-computer interaction, the present invention proposes a nuclear industry robot remote control method, system and storage medium.

[0082] To achieve the above objectives, the present invention proposes a remote control method for a nuclear industry robot.

[0083] like Figure 1 A flowchart of a remote control method for a nuclear industry robot according to an embodiment of the present invention is shown in FIG. 1 , and the method comprises the following steps:

[0084] S1, obtaining motion information of the control device.

[0085] Furthermore, before step S1, the method further includes: placing the control device at a preset calibration position, recording the initial motion information of the control device in the initial calibration state, and initializing the initial motion information. The initial motion information includes the posture data of the control device. In a specific embodiment of the present invention, the posture data is initialized to 0, and the positioning data of the control device is calibrated to a fixed coordinate.

[0086] Furthermore, obtaining the motion information of the control device includes:

[0087] S101, capturing the operator's motion information through the control device, and determining the posture data and acceleration information of the control device based on the motion information.

[0088] Among them, the attitude data includes yaw angle, pitch angle and roll angle, and the acceleration information includes the real-time acceleration vector. Based on the gesture information, the sensor can be sensitive to the yaw angle at time k. Pitch angle θ, roll angle γ and acceleration vector

[0089] S102, determining motion information of the control device based on the posture data and the acceleration information.

[0090] The motion information includes the speed and position coordinates of the control device. Further, based on the posture data and acceleration information, the speed of the control device is determined, including:

[0091] S1021, determining a spatial transformation matrix of the control device relative to an initial calibration state based on the posture data.

[0092] Furthermore, the spatial transformation matrix is ​​expressed as:

[0093]

[0094] in, is the yaw angle, θ is the pitch angle, and γ is the roll angle.

[0095] In another embodiment of the present invention, after determining the posture data of the control device, the method further includes: correcting the posture data and the space conversion matrix of the control device.

[0096] Furthermore, the posture data and space conversion matrix of the control device are corrected, including: based on the base installation angle and initial control direction of the nuclear industry robot, the posture data of the control device is corrected by formula 2. Nuclear industry robots often have actual deployment requirements such as hoisting and offset installation depending on the different work site environments. Among them, the base installation angle includes the installation azimuth, installation pitch angle, and roll base installation angle. The initial control direction can be set according to the remote operator's control habits or observation direction. The initial control direction includes the initial control azimuth, initial control pitch angle, and roll initial control angle. Formula 2,

[0097]

[0098] θ ′ =θ-θ B -θ C

[0099] γ ′ =γ-γ B -γ C

[0100] in, θ ′ , γ ′ are the corrected yaw angle, pitch angle, and roll angle, respectively. θ B , γ B They are installation azimuth, installation pitch angle, and roll foundation installation angle. θ C , γ C They are the initial control azimuth angle, initial control pitch angle, and initial control angle of roll respectively.

[0101] The space transformation matrix is ​​corrected based on the corrected posture data. The corrected space transformation matrix is:

[0102]

[0103] S1022: Determine a relative acceleration vector of the control device relative to an initial calibration state based on the real-time acceleration vector and the space conversion matrix.

[0104] Furthermore, the relative acceleration vector is the product of the acceleration vector and the space transformation matrix. The relative acceleration vector can be specifically expressed as:

[0105] S1023: Determine the speed of the control device relative to the initial calibration state based on the relative acceleration vector.

[0106] Specifically, the speed of the control device at time T relative to the initial calibration state can be expressed as:

[0107]

[0108] in, is the speed of the control device at time k.

[0109] Determining the position coordinates of the control device includes: determining the position coordinates of the control device relative to the initial calibration state based on the relative acceleration vector and the velocity. Further, the position coordinates of the control device relative to the initial calibration state are expressed as,

[0110]

[0111] in, is the position coordinate of the control device relative to the initial calibration state, To control the position coordinates of the device in the initial calibration state, To control the speed of the device in the x, y, and z directions, It is the relative acceleration vector of the control device in the x, y, and z directions.

[0112] At this point, the motion information of the control end device at time T calculated by the IMU can be obtained.

[0113] S2, obtaining UWB positioning information of the control device.

[0114] Furthermore, obtaining the UWB positioning information of the control device includes: obtaining the coordinates of the base station and the first distance from the control device to each base station. Figure 2 A schematic diagram of UWB positioning principle is shown.

[0115] Specifically, obtain the original distance information of n (n ≥ 4) base stations, that is, the first distance d1, d2, ...d from the control device to each base station n , the coordinates to be located are (x i ,y i ,z i ), the coordinates of the n base stations are (x1,y1,z1), (x2,y2,z2)…(x n ,y n ,z n ).

[0116] Furthermore, after obtaining the UWB positioning information of the control device, the method further includes: determining the UWB positioning coordinates of the control device by using a least square method based on the coordinates of the base station and the first distance.

[0117] The specific process is as follows: (1) Establish the original distance measurement solution equation as follows:

[0118]

[0119] …

[0120]

[0121] (2) After squaring the original distance measurement equation, the two equations are subtracted one from the other, and the least squares method is used to obtain the error about X=(x i ,y i ,z i ) is a linear equation.

[0122]

[0123] …

[0124]

[0125] The corresponding thread equation group (matrix form) is: AX = b

[0126] in:

[0127]

[0128] The least square method can be used to obtain X = (A T A) -1 A T b, namely the UWB positioning coordinates of the control device.

[0129] S3, determining six-degree-of-freedom change information based on the motion information of the control device and the UWB positioning information.

[0130] Furthermore, based on the motion information of the control device and the UWB positioning information, six-degree-of-freedom change information is determined, including:

[0131] S301, determining a second distance between the control device and each base station based on the position coordinates of the control device relative to an initial calibration state.

[0132] Furthermore, the second distance is determined by Formula 1, where:

[0133]

[0134] in, is the coordinate of the i-th UWB base station, is the coordinate of the control device at time k relative to the initial calibration state.

[0135] S302, determining six-degree-of-freedom change information based on the first distance, the second distance and the posture data.

[0136] Further, based on the first distance, the second distance and the posture data, six-degree-of-freedom change information is determined, including:

[0137] S3021: Perform data filtering processing on the first distance of the control device based on the second distance.

[0138] Further, based on the second distance, the process of performing data filtering on the first distance of the control device is as follows: first, determine whether the absolute value of the difference between the first distance and the second distance is less than a preset threshold, and record the difference between the first distance and the second distance as, If the absolute value of the difference between the first distance and the second distance is less than the preset threshold, the first distance is normal; if the absolute value of the difference between the first distance and the second distance is greater than or equal to the preset threshold, the first distance is abnormal, the corresponding first distance is deleted and the UWB positioning coordinates of the control device are re-solved.

[0139] S3022, determining six-degree-of-freedom change information based on the data filtering processing result and the posture data.

[0140] It is determined in turn whether the difference between the first distance and the second distance from the control device to each base station meets the preset threshold. If both meet the preset threshold, the UWB positioning coordinates of the control device determined in step S2 and the posture data determined in step S1 can form six-degree-of-freedom change information. If the absolute value of the difference between the first distance and the second distance is greater than or equal to the preset threshold, the first distance is deleted and the UWB positioning coordinates of the control device are re-solved until the difference between the first distance and the second distance from the control device to each base station meets the preset threshold.

[0141] S4, establish the mapping relationship between the physical axis of the nuclear industrial robot and the six-degree-of-freedom change information.

[0142] Furthermore, a mapping relationship between the physical axis of the nuclear industrial robot and the six-degree-of-freedom change information is established, including:

[0143] When the number of physical axes of the nuclear industrial robot is 6, the six degrees of freedom change information The spatial position of the end of the nuclear industry robot One to one mapping.

[0144] When the number of physical axes of the nuclear industry robot is less than 6 and the nuclear industry robot system provides a standard terminal control interface, within the reachable range of the nuclear industry robot, the six degrees of freedom change information The spatial position of the end of the nuclear industry robot One to one mapping.

[0145] When the number of physical axes of the nuclear industry robot is less than 6, and the nuclear industry robot system does not provide a standard terminal control interface, the six-degree-of-freedom change information One-to-one mapping with the translational physical axis and / or rotational physical axis data of the nuclear industrial robot.

[0146] S5, remote control of nuclear industry robots based on mapping relationship and six-degree-of-freedom change information.

[0147] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0148] According to another aspect of the embodiments of the present application, the present invention also provides a nuclear industry robot remote control system, such as Figure 3 As shown, the system includes the following functional modules:

[0149] The first acquisition module 301 is used to acquire motion information of the control device.

[0150] The second acquisition module 302 is used to acquire UWB positioning information of the control device.

[0151] The determination module 303 is used to determine the six-degree-of-freedom change information based on the motion information of the control device and the UWB positioning information.

[0152] The mapping module 304 is used to establish a mapping relationship between the physical axis of the nuclear industrial robot and the six-degree-of-freedom change information.

[0153] The execution module 305 is used to remotely control the nuclear industry robot based on the mapping relationship and the six-degree-of-freedom change information.

[0154] like Figure 4 A schematic diagram of the principle of a remote control system for a nuclear industry robot in a specific embodiment of the present invention is shown in FIG.

[0155] As an optional solution, the above system is also used to:

[0156] The control device is placed statically at a preset calibration position, the initial motion information of the control device in the initial calibration state is recorded, and the initial motion information is initialized.

[0157] As an optional solution, the above system is also used to: obtain motion information of the control device, including:

[0158] The operator's motion information is captured by the control device, and the posture data and acceleration information of the control device are determined based on the motion information. The posture data includes yaw angle, pitch angle and roll angle, and the acceleration information includes real-time acceleration vector.

[0159] Based on the posture data and acceleration information, the motion information of the control device is determined, and the motion information includes the speed and position coordinates of the control device.

[0160] As an optional solution, the system is also used to determine the speed of the control device based on the posture data and acceleration information, including:

[0161] A spatial transformation matrix of the manipulation device relative to an initial calibration state is determined based on the posture data.

[0162] Based on the real-time acceleration vector and the space conversion matrix, the relative acceleration vector of the control device relative to the initial calibration state is determined.

[0163] The velocity of the control device relative to the initial calibration state is determined based on the relative acceleration vector.

[0164] As an optional solution, the above system is also used to: determine the position coordinates of the control device, including:

[0165] Based on the relative acceleration vector and velocity, the position coordinates of the control device relative to the initial calibration state are determined.

[0166] As an optional solution, the above system is also used for: The space transformation matrix is ​​expressed as:

[0167]

[0168] in, is the yaw angle, θ is the pitch angle, and γ is the roll angle.

[0169] As an optional solution, the above system is also used for: the relative acceleration vector is the product of the acceleration vector and the space transformation matrix.

[0170] As an optional solution, the above system is also used to: the position coordinates of the control device relative to the initial calibration state are expressed as,

[0171]

[0172]

[0173] in, is the position coordinate of the control device relative to the initial calibration state, To control the position coordinates of the device in the initial calibration state, To control the speed of the device in the x, y, and z directions, It is the relative acceleration vector of the control device in the x, y, and z directions.

[0174] As an optional solution, the above system is also used to: obtain UWB positioning information of the control device, including: obtaining the coordinates of the base station and the first distance from the control device to each base station.

[0175] As an optional solution, the above system is also used for: after obtaining the UWB positioning information of the control device, it also includes: based on the coordinates of the base station and the first distance, using the least squares method to determine the UWB positioning coordinates of the control device.

[0176] As an optional solution, the system is also used to determine six-degree-of-freedom change information based on the motion information of the control device and the UWB positioning information, including:

[0177] Based on the position coordinates of the control device relative to the initial calibration state, a second distance between the control device and each base station is determined.

[0178] Based on the first distance, the second distance and the posture data, six-degree-of-freedom change information is determined.

[0179] As an optional solution, the above system is further used for: the second distance is determined by formula 1, formula 1,

[0180]

[0181] in, is the coordinate of the i-th UWB base station, is the coordinate of the control device at time k relative to the initial calibration state.

[0182] As an optional solution, the system is further used to determine six-degree-of-freedom change information based on the first distance, the second distance and the posture data, including:

[0183] Based on the second distance, data filtering processing is performed on the first distance of the control device.

[0184] Based on the data filtering results and posture data, the six-degree-of-freedom change information is determined.

[0185] As an optional solution, the system is further used to: perform data filtering processing on the first distance of the control device based on the second distance, including:

[0186] It is determined whether the absolute value of the difference between the first distance and the second distance is less than a preset threshold.

[0187] If the absolute value of the difference between the first distance and the second distance is smaller than a preset threshold, the first distance is normal.

[0188] If the absolute value of the difference between the first distance and the second distance is greater than or equal to the preset threshold, the first distance is abnormal, the corresponding first distance is deleted, and the UWB positioning coordinates of the control device are re-solved.

[0189] As an optional solution, the above system is also used to: establish a mapping relationship between the physical axis of the nuclear industrial robot and the six-degree-of-freedom change information, including:

[0190] When the number of physical axes of the nuclear industrial robot is 6, the six degrees of freedom change information The spatial position of the end of the nuclear industry robot One to one mapping.

[0191] When the number of physical axes of the nuclear industry robot is less than 6 and the nuclear industry robot system provides a standard terminal control interface, within the reachable range of the nuclear industry robot, the six degrees of freedom change information The spatial position of the end of the nuclear industry robot One to one mapping.

[0192] When the number of physical axes of the nuclear industry robot is less than 6, and the nuclear industry robot system does not provide a standard terminal control interface, the six-degree-of-freedom change information One-to-one mapping with the translational physical axis and / or rotational physical axis data of the nuclear industrial robot.

[0193] As an optional solution, the above system is also used to correct the posture data and space conversion matrix of the control device.

[0194] As an optional solution, the above system is also used to: correct the posture data and space conversion matrix of the control device, including:

[0195] Based on the base installation angle and initial control direction of the nuclear industrial robot, the posture data of the control device is corrected by formula 2. The base installation angle includes the installation azimuth, installation pitch angle, and roll base installation angle. The initial control direction includes the initial control azimuth, initial control pitch angle, and roll initial control angle. Formula 2,

[0196]

[0197] θ ′ =θ-θ B -θ C

[0198] γ ′ =γ-γ B -γ C

[0199] in, θ ′ , γ ′ are the corrected yaw angle, pitch angle, and roll angle, respectively. θ B , γ BThey are installation azimuth, installation pitch angle, and roll foundation installation angle. θ C , γ C They are the initial control azimuth angle, initial control pitch angle, and initial control angle of roll respectively.

[0200] The space transformation matrix is ​​corrected based on the corrected posture data.

[0201] like Figure 5 FIG. 1 is a schematic diagram of a human-machine interaction interface of a remote control system for a nuclear industry robot in a specific embodiment of the present invention, wherein the basic process of human-machine interaction is as follows: (1) Based on a determined mapping relationship, the perception data of the original n physical axes of the nuclear industry robot are provided; (2) According to the actual situation on site or third-party video image information, the gain parameters of the n physical axes are dynamically adjusted to determine the movement or rotation amount corresponding to the starting and ending points of each axis; (3) The type of spatial point motion interpolation curve is determined.

[0202] After the above process is completed, the control command is sent to the execution end: according to the robot standard control interface and command, the control state after human-machine interaction confirmation is converted into actual control command and sent to the controlled end to complete the remote control process. This system reconstructs the human-machine interaction paradigm of nuclear power robots, optimizes the human-machine relationship, and can improve user experience and robot intelligence.

[0203] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0204] Regarding the system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0205] According to one aspect of the present application, a computer program product is provided. The computer program product includes a computer program.

[0206] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0207] Figure 6 The structure block diagram of a computer system for implementing an electronic device according to an embodiment of the present application is schematically shown.

[0208] It should be noted that Figure 6 The computer system 1100 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0209] like Figure 6 As shown, the computer system 1100 includes a central processing unit 1101 (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory 1102 (ROM) or the program loaded from the storage part 1108 to the random access memory 1103 (RAM). Various programs and data required for system operation are also stored in the random access memory 1103. The central processing unit 1101, the read-only memory 1102 and the random access memory 1103 are connected to each other through a bus 1104. An input / output interface 1105 (Input / Output interface, i.e., I / O interface) is also connected to the bus 1104.

[0210] The following components are connected to the input / output interface 1105: an input section 1106 including a keyboard, a mouse, etc.; an output section 1107 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN card, a modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the input / output interface 1105 as needed. A removable medium 1111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1110 as needed so that a computer program read therefrom is installed into the storage section 1108 as needed.

[0211] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1109, and / or installed from the removable medium 1111. When the computer program is executed by the central processor 1101, various functions defined in the system of the present application are executed.

[0212] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1109, and / or installed from the removable medium 1111. When the computer program is executed by the central processor 1101, various functions provided by the embodiments of the present application are performed.

[0213] According to another aspect of the embodiment of the present application, an electronic device for a remote control system of a nuclear industry robot is also provided. This embodiment is described by taking the electronic device as a terminal device as an example. Figure 7 As shown, the electronic device includes a memory 1202 and a processor 1204. The memory 1202 stores a computer program, and the processor 1204 is configured to execute the steps in any of the above method embodiments through the computer program.

[0214] Optionally, in this embodiment, the electronic device may be located in at least one network device among a plurality of network devices of a computer network.

[0215] Optionally, in this embodiment, the above-mentioned processor can be configured to execute the methods in each embodiment of the present application through a computer program.

[0216] Alternatively, a person skilled in the art may understand that: Figure 7 The structure shown is for illustration only. Figure 7 The structure of the electronic device is not limited. Figure 7 More or fewer components (such as network interfaces, etc.) as shown in, or with Figure 7 Different configurations shown.

[0217] Among them, the memory 1202 can be used to store software programs and modules, such as the program instructions / modules corresponding to a nuclear industry robot remote control method and system in the embodiment of the present application. The processor 1204 executes various functional applications and data processing by running the software programs and modules stored in the memory 1202, that is, to implement the above method. The memory 1202 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1202 may further include a memory remotely located relative to the processor 1204, and these remote memories may be connected to the terminal via a network. Examples of the above networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Among them, the memory 1202 can be specifically, but not limited to, used to store six-degree-of-freedom change information. As an example, such as Figure 7As shown, the memory 1202 may include, but is not limited to, the first acquisition module 301, the second acquisition module 302, the determination module 303, the mapping module 304, and the execution module 305 in the remote control system of the nuclear industry robot. In addition, other module units in the system may also be included but are not limited to, which will not be repeated in this example.

[0218] Optionally, the transmission device 1206 is used to receive or send data via a network. Specific examples of the network may include a wired network and a wireless network. In one example, the transmission device 1206 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers via a network cable so as to communicate with the Internet or a local area network. In one example, the transmission device 1206 is a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0219] In addition, the electronic device further includes: a display 1208 for displaying the data; and a connection bus 1210 for connecting various module components in the electronic device.

[0220] In other embodiments, the terminal device or server may be a node in a distributed system, wherein the distributed system may be a blockchain system, and the blockchain system may be a distributed system formed by connecting the multiple nodes through network communication. The nodes may form a peer-to-peer network, and any form of computing device, such as a server, terminal or other electronic device, may become a node in the blockchain system by joining the peer-to-peer network.

[0221] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes a nuclear industry robot remote control method provided in various optional implementation methods of the above aspects.

[0222] Optionally, in this embodiment, the above-mentioned computer-readable storage medium can be configured to store data for executing the methods in various embodiments of the present application.

[0223] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the terminal device through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0224] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0225] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for one or more electronic devices to execute all or part of the steps of the methods described in each embodiment of the present application.

[0226] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0227] In the several embodiments provided in this application, it should be understood that the disclosed application can be implemented in other ways. Among them, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0228] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0229] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0230] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0231] In summary, it can be seen from the above description that the above embodiments of the present invention achieve the following technical effects:

[0232] 1. The present invention combines the motion information of the control device with the UWB positioning information to determine the six-degree-of-freedom change information. According to the mapping relationship between the physical axis of the nuclear industrial robot and the six-degree-of-freedom change information, the gesture actions collected by the sensor are converted into the motion posture and operation action control message of the robot or joint, so as to realize the remote control of the robot. For the operator, no professional programming knowledge or operation guide is required. The operator can replace the frequent button and joystick control with the habitual gesture actions to realize efficient and convenient control, which can reduce the learning cost of the personnel.

[0233] 2. In establishing the mapping relationship between the physical axes of the nuclear industrial robot and the six-degree-of-freedom change information, the present invention proposes to provide a standard terminal control interface for the robot system so that the control device can adaptively convert the upper-level user's somatosensory control actions into control commands supported by the nuclear power robot. For the nuclear power robot, complex electrical and software modifications are avoided.

[0234] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0235] It should be noted that, in the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

Claims

1. A remote control method for a nuclear industry robot, characterized in that: include: Get the motion information of the control device; Obtain UWB positioning information of the control device; Determining six-degree-of-freedom change information based on the motion information of the control device and the UWB positioning information; Establishing a mapping relationship between the physical axis of the nuclear industrial robot and the six-degree-of-freedom change information; The nuclear industry robot is remotely controlled based on the mapping relationship and the six-degree-of-freedom change information.

2. The method according to claim 1, characterized in that Also includes: The control device is placed statically at a preset calibration position, initial motion information of the control device in an initial calibration state is recorded, and the initial motion information is initialized.

3. The method according to claim 1, characterized in that Get the motion information of the control device, including: Capturing the operator's motion information through the control device, and determining the attitude data and acceleration information of the control device based on the motion information, wherein the attitude data includes a yaw angle, a pitch angle, and a roll angle, and the acceleration information includes a real-time acceleration vector; Based on the posture data and the acceleration information, the motion information of the control device is determined, and the motion information includes the speed and position coordinates of the control device.

4. The method according to claim 3, characterized in that Determining the speed of the control device based on the posture data and the acceleration information includes: Determining a spatial transformation matrix of the manipulation device relative to an initial calibration state based on the posture data; Determining a relative acceleration vector of the control device relative to the initial calibration state based on the real-time acceleration vector and the space conversion matrix; A velocity of the control device relative to the initial calibration state is determined based on the relative acceleration vector.

5. The method according to claim 4, characterized in that Determining the position coordinates of the control device includes: Based on the relative acceleration vector and the speed, the position coordinates of the control device relative to the initial calibration state are determined.

6. The method according to claim 4, characterized in that The space transformation matrix is ​​expressed as: in, is the yaw angle, θ is the pitch angle, and γ is the roll angle.

7. The method according to claim 5, characterized in that The relative acceleration vector is the product of the acceleration vector and the space transformation matrix.

8. The method according to claim 5, characterized in that The position coordinates of the control device relative to the initial calibration state are expressed as: in, is the position coordinate of the control device relative to the initial calibration state, is the position coordinate of the control device in the initial calibration state, is the speed of the control device in the x, y, and z directions, is the relative acceleration vector of the control device in the x, y, and z directions.

9. The method according to claim 8, characterized in that Acquiring UWB positioning information of a control device includes: acquiring coordinates of a base station and a first distance from the control device to each base station.

10. The method according to claim 9, characterized in that After obtaining the UWB positioning information of the control device, the method further includes: determining the UWB positioning coordinates of the control device by using a least square method based on the coordinates of the base station and the first distance.

11. The method according to claim 10, characterized in that Determining six-degree-of-freedom change information based on the motion information of the control device and the UWB positioning information includes: Determining a second distance between the control device and each base station based on the position coordinates of the control device relative to the initial calibration state; Based on the first distance, the second distance and the posture data, six-degree-of-freedom change information is determined.

12. The method according to claim 11, characterized in that The second distance is determined by formula 1, wherein: in, is the coordinate of the i-th UWB base station, is the coordinate of the control device at time k relative to the initial calibration state.

13. The method according to claim 11, characterized in that Determining six-degree-of-freedom change information based on the first distance, the second distance, and the posture data includes: Based on the second distance, performing data filtering processing on the first distance of the control device; Based on the data filtering processing result and the posture data, six-degree-of-freedom change information is determined.

14. The method according to claim 13, characterized in that Based on the second distance, performing data filtering processing on the first distance of the control device includes: Determine whether the absolute value of the difference between the first distance and the second distance is less than a preset threshold; If the absolute value of the difference between the first distance and the second distance is less than a preset threshold, the first distance is normal; If the absolute value of the difference between the first distance and the second distance is greater than or equal to a preset threshold, the first distance is abnormal, the corresponding first distance is deleted, and the UWB positioning coordinates of the control device are re-solved.

15. The method according to any one of claims 1 to 14, characterized in that Establishing a mapping relationship between the physical axis of the nuclear industrial robot and the six-degree-of-freedom change information includes: When the number of physical axes of the nuclear industrial robot is 6, the six-degree-of-freedom change information The spatial position of the nuclear industry robot end One-to-one mapping; When the number of physical axes of the nuclear industry robot is less than 6 and the nuclear industry robot system provides a terminal control standard interface, within the reachable range of the nuclear industry robot terminal, the six degrees of freedom change information The spatial position of the nuclear industry robot end One-to-one mapping; When the number of physical axes of the nuclear industry robot is less than 6 and the nuclear industry robot system does not provide a terminal control standard interface, the six-degree-of-freedom change information One-to-one mapping with the translational physical axis and / or rotational physical axis data of the nuclear industrial robot.

16. The method according to any one of claims 4 to 7, characterized in that: Also includes: The posture data and the space transformation matrix of the control device are corrected.

17. The method according to claim 16, characterized in that Correcting the posture data and the space transformation matrix of the control device includes: Based on the base installation angle and the initial control direction of the nuclear industrial robot, the posture data of the control device is corrected by formula 2. The base installation angle includes the installation azimuth, the installation pitch angle, and the roll base installation angle. The initial control direction includes the initial control azimuth, the initial control pitch angle, and the roll initial control angle. The formula 2, i ′ =θ-θ B -θ C c ′ =γ-γ B -c C Among them, φ ′ ,θ ′ , γ ′ are the corrected yaw angle, pitch angle, and roll angle, respectively, B ,θ B , γ B They are installation azimuth, installation pitch angle, and roll foundation installation angle, φ C ,θ C , γ C They are initial control azimuth angle, initial control pitch angle, and initial control angle of roll respectively; The space transformation matrix is ​​corrected based on the corrected posture data.

18. A nuclear industry robot remote control system, characterized in that: include: A first acquisition module is used to acquire motion information of a control device; The second acquisition module is used to obtain UWB positioning information of the control device; A determination module, configured to determine six-degree-of-freedom change information based on the motion information of the control device and the UWB positioning information; A mapping module, used to establish a mapping relationship between the physical axis of the nuclear industrial robot and the six-degree-of-freedom change information; An execution module is used to remotely control a nuclear industry robot based on the mapping relationship and the six-degree-of-freedom change information.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein the computer program can be executed by an electronic device to perform the method described in any one of claims 1 to 17.

20. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 17 are implemented.

21. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 17 through the computer program.

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