A control method of a remote control device and a remote control device

Abstract

The application provides a control method of a remote control device and the remote control device. The method is applied to the remote control device, the remote control device is in communication connection with a controlled device, the controlled device has an operation part for operating an object, and the control method comprises the following steps: obtaining first control data based on the motion amplitude of a first interaction module of the remote control device; sending the first control data to the controlled device, so that the controlled device controls the operation part based on the first control data; determining a second value that is positively correlated with a first value of the pressure borne by the operation part when the operation part and the object are in contact according to the first value fed back by the controlled device; and outputting a feedback force or a feedback torque acting on the first interaction module according to the second value, wherein the direction of the feedback force and the direction of the feedback torque are opposite to the motion direction of the first interaction module. By applying the method, a user who operates the first interaction module can intuitively feel the force bearing condition of the operation part based on the feedback force or the feedback torque, thereby being beneficial to improving the control precision of the controlled device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of device remote control, and in particular to a control method of a remote control device and the remote control device. BACKGROUND

[0002] In the related art, a remote control device can send remote control data to a robot based on a user's operation, and the robot can receive control data of the remote control device and control a gripper of the robot to grasp an object based on the control data. However, the current remote control device lacks an indication of whether the robot successfully grasps the object, and the user needs to determine whether the object is successfully grasped by visual inspection or other means when using the remote control device to control the robot. Therefore, the current scheme of controlling the robot based on the remote control device has the problems of poor convenience and low control efficiency of the robot. SUMMARY

[0003] Therefore, the embodiments of the present application provide a control method of a remote control device and the remote control device to improve the convenience of the remote control device in use and improve the control efficiency of the controlled device.

[0004] To achieve the above object, the embodiments of the present application provide the following technical solutions:

[0005] The first aspect of the present application provides a control method of a remote control device, applied to the remote control device, the remote control device and a controlled device being in communication connection, the controlled device having an operation part for operating an object, and the control method comprising:

[0006] obtaining first control data based on a motion amplitude of a first interaction module of the remote control device in response to the first interaction module moving;

[0007] sending the first control data to the controlled device to control the operation part of the controlled device based on the first control data;

[0008] determining a second value according to a first value fed back by the controlled device, the first value representing a pressure borne by the operation part when the operation part contacts the object, and the second value being positively correlated with the first value;

[0009] outputting a feedback force or a feedback torque acting on the first interaction module according to the second value, wherein the direction of the feedback force and the direction of the feedback torque are opposite to the motion direction of the first interaction module.

[0010] Optionally, the determining of the second value according to the first value fed back by the controlled device comprises:

[0011] obtaining a feedback proportional coefficient determined based on a length of a first interval and a length of a second interval, the first interval representing a detection range of a first detection module in the controlled device for detecting the first value, and the second interval representing an output range of a first output module for outputting the feedback force or feedback torque;

[0012] determining a second relative value according to the feedback proportional coefficient and a first relative value determined based on the first value, the first relative value being a difference value of the first value relative to a lower limit of the first interval;

[0013] determining a second value according to the second relative value and the lower limit of the second interval.

[0014] Optionally, the operation part is connected to a device body of the controlled device through a connecting part, and the method further comprises:

[0015] obtaining first device posture data of the remote control device;

[0016] determining second device posture data representing a posture of the connecting part according to the first device posture data;

[0017] determining second control data according to at least the second device posture data;

[0018] sending the second control data to the controlled device to control the posture of the connecting part based on the second control data.

[0019] Optionally, the determining of the second device posture data representing the posture of the connecting part according to the first device posture data comprises:

[0020] calculating a plurality of posture angle data representing the posture of the connecting part according to the first device posture data, and taking a set of the plurality of posture angle data as the second device posture data.

[0021] Optionally, the connecting part comprises at least one joint mechanism and a connecting mechanism connecting the joint mechanisms.

[0022] The second device posture data represents a posture of an end of the connecting part, and the end of the connecting part refers to one end of the connecting part connected to the operation part.

[0023] The determining of the second control data according to at least the second device posture data comprises:

[0024] determining target end position data representing an expected position of the end according to current end position data representing the end corresponding to the end and interaction data obtained through a second interaction module of the remote control device.

[0025] determining second control data according to the second device posture data and target end position data, the second control data comprising at least target position data of a joint mechanism contained in the connecting portion.

[0026] Optionally, the remote control device further comprises a vibration module, and the method further comprises:

[0027] determining a vibration parameter value according to the first value;

[0028] controlling the vibration module of the remote control device to vibrate according to the vibration parameter value.

[0029] Optionally, the determining of the vibration parameter value according to the first value comprises:

[0030] obtaining a third interval determined based on a historical value of the controlled device and a vibration parameter interval of the vibration module, the historical value representing a pressure borne by the operating portion when the operating portion contacts the object within a preset historical period;

[0031] determining a vibration parameter value according to the first value, the third interval and the vibration parameter interval.

[0032] The second aspect of the present application provides a remote control device, which is communicatively connected to a controlled device, and the controlled device has an operating portion for operating an object.

[0033] The remote control device comprises:

[0034] a teleoperation control module, configured to obtain first control data based on a motion amplitude of a first interaction module of the remote control device in response to the first interaction module moving;

[0035] a communication module, configured to send the first control data to the controlled device, so that the controlled device controls the operating portion based on the first control data;

[0036] The communication module is further configured to receive a first value fed back by the controlled device, the first value representing a pressure borne by the operating portion when the operating portion contacts the object.

[0037] a force tactile feedback module, configured to:

[0038] determine a second value according to the first value fed back by the controlled device, the first value representing a pressure borne by the operating portion when the operating portion contacts the object, and the second value being positively correlated with the first value;

[0039] output a feedback force or a feedback torque acting on the first interaction module according to the second value, wherein the direction of the feedback force and the direction of the feedback torque are opposite to the motion direction of the first interaction module.

[0040] Optionally, the operation part is connected with a device body of the controlled device through the connecting part, and the remote operation control module further comprises a posture measurement unit configured to obtain first device posture data of the remote control device;

[0041] The remote operation control module is further configured to:

[0042] determine second device posture data representing a posture of the connecting part according to the first device posture data;

[0043] determine second control data according to at least the second device posture data;

[0044] The communication module is further configured to send the second control data to the remote control device to control the posture of the connecting part based on the second control data.

[0045] Optionally, the force tactile feedback module further comprises a vibration module.

[0046] The force tactile feedback module is further configured to:

[0047] determine a vibration parameter value according to the first value;

[0048] control the vibration module of the remote control device to vibrate according to the vibration parameter value.

[0049] The scheme has the beneficial effects that according to the pressure borne by the operation part of the controlled device, a feedback force or feedback torque of a corresponding size is output on the first interaction module, so that when the user operates the first interaction module, the user can feel the resistance in the direction opposite to the movement direction of the first interaction module and reflecting the force borne by the operation part, thereby the user can intuitively feel the force borne by the operation part, and the control precision of the controlled device is improved; and when the user operates the remote control device, the user can directly determine whether the operation part has completed a corresponding action, such as whether an article is clamped, through the feedback force or feedback torque acting on the first interaction module, without the need for confirmation through other ways, and the control efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description only constitute the embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor based on the provided drawings.

[0051] Figure 1 The connection schematic diagram of the handle operator and the robot shown in the embodiments of the present application;

[0052] Figure 2A structural schematic diagram of a handle operator shown in an embodiment of the present application;

[0053] Figure 3 A flow chart of a teleoperation and force touch feedback provided in an embodiment of the present application;

[0054] Figure 4 A specific structural diagram of a handle operator provided in an embodiment of the present application;

[0055] Figure 5 A flow chart of a control method of a remote control device provided in an embodiment of the present application;

[0056] Figure 6 A flow chart of a method of controlling a posture of a controlled device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work are within the protection scope of the present application.

[0058] The terms "first", "second", "third", "fourth" and the like (if any) in the description, claims and above drawings of the present application are used to distinguish similar objects, and do not have to be used to describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0059] It should be noted that the description involving "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but must be based on the realization of a person of ordinary skill in the art, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope claimed by the present application.

[0060] In this application, the terms "comprise", "contain", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0061] The control method of the remote control device provided in the embodiments of the present application can be executed by the remote control device, which can be in communication connection with the controlled device, so that the remote control device can send control data to the controlled device, and the controlled device can operate based on the control data.

[0062] The specific types of the remote control device and the controlled device are not limited, and as some examples, the remote control device can be Figure 1 the handle operator shown, and the controlled device can be Figure 1 the robot shown. The control method of the embodiments of the present application will be described below in combination with the application scenarios of Figure 1 .

[0063] Referring to Figure 1 , a connection schematic diagram of the handle operator and the robot shown in the embodiments of the present application.

[0064] The handle operator 10 is in communication connection with the robot 20, and the handle operator 10 can be used to control the movement of the robot 20.

[0065] The robot 20 includes a body 200, a mechanical arm, and a mechanical gripper 201 mounted at the end of the mechanical arm and directly performing a task (such as grabbing an object), and a tactile sensor is arranged on the mechanical gripper for tactile perception, which can perceive force information and object texture information when the mechanical gripper grips an object.

[0066] The tactile sensor can include one or more, and can be arranged at a position on the surface of the mechanical gripper that can contact an object.

[0067] The mechanical arm includes Figure 1 the connection mechanism 221 and the joint mechanism 220 shown, and the connection mechanism 221 and the joint mechanism 220 can move relative to the body 200, such as rotating relative to the body 200. The connection mechanism 221 connected to the joint mechanism 220 can move relative to the joint mechanism 220, such as rotating relative to the joint mechanism 220.

[0068] It should be noted that the mechanical gripper 201 is an example of an operating part of the controlled device. The operating part is used to refer to a part of the controlled device that directly contacts and operates on an object. In other embodiments, the controlled device can also have other operating parts different from the mechanical gripper. For example, the operating part of the controlled device can also be a mechanical hand simulating a human hand.

[0069] Figure 1 The mechanical arm shown is an example of a connecting part of the controlled device. The connecting part refers to a part of the controlled device that connects the operating part and the body to support the movement of the operating part relative to the body. In other embodiments, the controlled device can also have other connecting parts different from the mechanical arm, and the structure of the mechanical arm is not limited to Figure 1 the structure shown, for example, it can have two or more joint mechanisms. Optionally, the controlled device can also not include a mechanical arm or other connecting part, and the operating part can be directly installed on the body of the controlled device.

[0070] Figure 2 An optional structure diagram of the handle operator 10 is shown, as Figure 2 shown, the handle operator 10 includes an interaction module 11 and a function module 12. Among them, the interaction module 11 provided on the handle operator 10 can be one or more. In terms of type, the interaction module 11 can include any one or more of a digital key (which can also be referred to as a general key), a trigger key, and a joystick. In terms of function, the interaction module 11 can include an interaction module for controlling the body 200, an interaction module for controlling the mechanical arm, and an interaction module for controlling the mechanical gripper.

[0071] The general key refers to an interaction module that has only two states of "pressed" and "not pressed". The trigger key is an interaction module that can rotate around a fixed shaft under the action of an external force. The function module 12 can sense the rotation angle of the trigger key and obtain corresponding control data based on the rotation angle. The joystick is an interaction module that can swing in multiple directions around a fixed ball center under the action of an external force. The function module 12 can sense the swing direction and amplitude of the joystick and obtain corresponding control data based on the swing direction and amplitude.

[0072] As an example, the interaction module 11 includes a first interaction module for controlling the mechanical gripper. In the specific embodiment, the first interaction module can be a grabbing key, such as the aforementioned trigger key, for controlling the mechanical gripper to grab an object. The aforementioned grabbing key is equivalent to an example of the first interaction module of the remote control device. In other embodiments, the first interaction module can also be other forms of interaction modules, as long as the first interaction module can be used to control the operating part of the controlled device. For example, the first interaction module can also be a joystick.

[0073] In some other embodiments, the interaction module 11 includes the first interaction module for controlling the mechanical gripper and other interaction modules for controlling the body. For example, the other interaction modules include multiple directional buttons, which are ordinary buttons used to control the movement direction of the body 200. Depending on actual needs, multiple directional buttons can be set, such as six buttons for up, down, left, right, forward, and backward to control the displacement operation of the body 200.

[0074] Functional module 12 includes a remote operation control module 121, a force and tactile feedback module 122, and a wireless communication module 125. The remote operation control module 121 senses the state of one or more of the aforementioned interactive modules, including whether ordinary buttons are pressed, the rotation angle of trigger buttons, and the swing direction and amplitude of joysticks, to obtain one or more control data based on the state of the interactive modules. This control data is sent to the robot by the wireless communication module 125, thereby controlling the robot to perform actions such as moving the main body 200, moving the robotic arm and / or mechanical gripper, and controlling the mechanical gripper to close or open to grasp or release objects.

[0075] The wireless communication module 125 can be a communication module based on Bluetooth technology or other wireless communication technologies. Optionally, the wireless communication module 125 can also be replaced with a wired communication module.

[0076] The force-tactile feedback module 122 is used to perform specific operations based on a first value fed back by the robot, so that the hand holding the handle operator 10 can intuitively perceive the magnitude of the pressure exerted on the mechanical gripper. The first value is fed back by the controlled device and is used to characterize the magnitude of the pressure exerted when the operating part comes into contact with the object. Figure 1 In the example, the first value is fed back by the robot and characterizes the pressure exerted when the mechanical gripper comes into contact with the object. Optionally, the first value can be raw data collected and fed back by tactile sensors mounted on the mechanical gripper, or it can be data after processing the raw data. For example, if the mechanical gripper has multiple tactile sensors, the first value can be the average of the raw data collected by the multiple tactile sensors.

[0077] Alternatively, the mechanical gripper can not include the tactile sensor, and the first value can be obtained based on a measurement of other components of the robot. For example, the robot can include a drive motor for driving movement of the mechanical gripper, and the torque output by the drive motor is related to the pressure experienced by the mechanical gripper when it contacts an object, so the first value can be determined based on the torque output by the drive motor, e.g. can be equal to the torque output by the drive motor. For another example, the robot can include a hydraulic mechanism for driving movement of the mechanical gripper, and the pressure output by the hydraulic mechanism is related to the pressure experienced by the mechanical gripper when it contacts an object, so the first value can be determined based on the pressure output by the hydraulic mechanism, e.g. can be equal to the pressure output by the hydraulic mechanism. The torque output by the drive motor and the pressure output by the hydraulic mechanism can be obtained directly from control signals output by a processor of the robot to the drive motor and the hydraulic mechanism.

[0078] The teleoperation control module 121 includes a first micro control unit and an inertial measurement unit (IMU) 1212. The force tactile feedback module 122 includes a second micro control unit, a force feedback motor 1221 and a linear vibration motor 1222. The force feedback motor can be a servo motor in particular.

[0079] The first micro control unit and the second micro control unit can be independent control units, or can be different parts of an integrated micro control unit 1211. In the following description of various embodiments, the first micro control unit and the second micro control unit are taken as different parts of an integrated micro control unit 1211 as an example to describe various embodiments.

[0080] The inertial measurement unit 1212 is an example of a pose measurement unit, and in other alternative embodiments, the teleoperation control module 121 can also include other pose measurement units capable of measuring the pose of the handle operator 10 itself, and is not limited to the inertial measurement unit 1212. The teleoperation control module 121 can also not obtain the pose of the handle operator 10 itself, and thus can not include a pose measurement unit for measuring the pose.

[0081] Please refer to Figure 3 Based on the specific architecture of the handle operator 10 and the robot 20 shown in the above embodiments, the process of the first micro control unit in the micro control unit 1211 to implement control of the robot is as follows.

[0082] Firstly, the first micro control unit obtains body control data for controlling the body 200 according to the state of the interaction module for controlling the body 200, and sends the body control data to the robot. The controller built-in the robot can control the body 200 to move based on the body control data, for example, move in any one of the forward, backward, left, right, up and down directions according to the body control data.

[0083] Secondly, in the case that the handle operator 10 comprises an inertial measurement unit 1212 or other posture measurement unit, the first micro control unit obtains first device posture data output by the inertial measurement unit 1212; the micro control unit determines mechanical arm control data for controlling the mechanical arm according to the state of the interactive module for controlling the mechanical arm and in combination with the first device posture data, and sends the mechanical arm control data to the robot, and the controller built in the robot can control the mechanical arm to move according to the mechanical arm control data, for example, control one or more joint mechanisms of the mechanical arm to rotate to change the posture of the mechanical arm, control the mechanical arm to rotate relative to the body 200, etc.

[0084] In the case that the handle operator 10 does not comprise a posture measurement unit, the mechanical arm control data for controlling the mechanical arm can also be determined only according to the state of the interactive module for controlling the mechanical arm;

[0085] Thirdly, the first micro control unit determines gripper control data for controlling the mechanical gripper according to the state of the interactive module for controlling the mechanical gripper, and sends the gripper control data to the robot through the wireless communication module, and the controller built in the robot can control the mechanical gripper according to the gripper control data, for example, control the mechanical gripper to close to grasp an object, control the mechanical gripper to open to release the grasped object, etc.

[0086] According to different operations of the user on the interactive module, the handle operator 10 can execute any one or more of the above three aspects of control modes, for example, can only control the body 200 to move, can control the body 200 to move and the mechanical gripper to close at the same time, etc.

[0087] In the force touch feedback module 122, the force feedback motor 1221 is an example of an output module for outputting feedback torque, and in other embodiments, the force feedback motor 1221 can also be replaced by other output modules capable of outputting feedback force or feedback torque, for example, replaced by a hydraulic component capable of outputting feedback force. The linear vibration motor 1222 is an example of a vibration module capable of vibrating under the control of an electric signal, and in other embodiments, the linear vibration motor 1222 can also be replaced by other vibration modules.

[0088] The second micro control unit of the micro control unit 1211 can control the output module to output feedback force or feedback torque acting on the interactive module for controlling the mechanical gripper according to the first value fed back by the robot, so that the user operating the interactive module for controlling the mechanical gripper can feel the pressure on the mechanical gripper.

[0089] In some other embodiments, the second micro control unit of the micro control unit 1211 can also control the vibration module to vibrate according to the first value fed back by the robot, so that the user holding the handle operator can feel the pressure on the mechanical gripper through the vibration.

[0090] In some embodiments, the interaction module 11 further comprises an enable switch and a general switch. The enable switch is an emergency brake button of the handle operator, which is used to control the on-off of the circuit in the corresponding handle operator, for example, when the enable switch is off, the handle operator does not send control data to the robot, and when the enable switch is on, the handle operator sends control data to the robot. The general switch is a general power switch of the handle operator, which is used to control the power supply or stop power supply of the battery and / or device interface for the handle operator.

[0091] In some embodiments, the function module 12 further comprises an audible and light indication module 123 and a power management module 124. The power management module 124 and the wireless communication module 125 enable the handle operator to be free from the restriction of power supply and communication lines, and more convenient in mobile scenarios.

[0092] The power management module 124 comprises a charging circuit, a discharging circuit, a device interface and a battery, and the battery is used to provide voltage for various devices in the handle operator 10; the charging circuit is connected to the battery and the device interface of the handle operator, so as to charge the battery based on the current input by the device interface; the discharging circuit is connected to the battery and other modules of the handle operator, so as to supply power for the other modules.

[0093] The device interface can also be connected to other modules, supply power for other modules based on external power supply, and support communication between other modules and other devices outside the handle operator 10. The device interface can be, for example, a Type-C interface.

[0094] The wireless communication module 125 is used to realize wireless communication between the handle operator 10 and the robot 20.

[0095] The audible and light indication module 123, as a hardware support for interaction, can provide information display of the teleoperation process. For example, the audible and light indication module 123 can output corresponding sound prompts or light prompts when any of the remote control device and the controlled device occurs an abnormality.

[0096] It should be noted that the embodiments of the present application also show the specific structure diagram of each module in the handle operator, as shown in Figure 4 The handle operator comprises:

[0097] a micro control unit 1211 and an inertial measurement unit 1212, which belong to the teleoperation control module 121;

[0098] a device interface 403, a charging circuit 404, a battery 405, an LDO (Low Dropout Regulator) module 406, a 5V DC converter 407, a 3.3V DC converter 408 and a switch circuit 411, which belong to the power management module 124;

[0099] linear vibration motor 1222, driving circuit 410, control circuit 412, force feedback motor 1221, which belong to force tactile feedback module 122;

[0100] buzzer 414, LED light strip 419, which belong to sound and light indication module 123;

[0101] wireless communication module 125;

[0102] ordinary button 414, trigger key 416, enable switch 417, master switch 418, which belong to interaction module 11.

[0103] Among them, the force feedback motor 1221 and the micro control unit 1211 are connected through the communication bus.

[0104] The connection relationship of the above parts can be seen in Figure 4 , and will not be described here. It should be understood that, in the specific implementation process, the person skilled in the art can make individualized settings on the modules contained in the handle operator according to the actual needs. For example, in some embodiments, only force feedback sensing is needed through the first interaction module, and force feedback sensing through the vibration amplitude of the handle operator is not needed, so the handle operator can not be provided with a linear vibration motor 1222.

[0105] The control method of the remote control device provided by the embodiments of the present application will be described below in combination with the structures of Figure 1 and Figure 2 Please refer to Figure 5 , which is a flowchart of the method. The method can include the following steps.

[0106] S501, in response to the movement of the first interaction module of the remote control device, obtaining first control data based on the movement amplitude of the first interaction module.

[0107] S502, sending the first control data to the controlled device, so that the controlled device controls the operation part based on the first control data.

[0108] S503, determining a second value according to a first value fed back by the controlled device, the first value representing the pressure borne by the operation part when the operation part contacts with the object, and the second value being positively correlated with the first value.

[0109] S504, outputting feedback force or feedback torque acting on the first interaction module according to the second value, wherein the direction of the feedback force and the direction of the feedback torque are opposite to the movement direction of the first interaction module.

[0110] The beneficial effect of the embodiment is that, according to the pressure borne by the operating part of the controlled device, a feedback force or feedback torque of a corresponding size is output on the first interaction module, thereby, when the user operates the first interaction module, the user can feel a resistance force opposite to the movement direction of the first interaction module and reflecting the force borne by the operating part, so that the user can intuitively feel the force borne by the operating part, and the control accuracy of the controlled device is improved.

[0111] Moreover, when the user operates the remote control device, the user can directly determine whether the operating part has completed a corresponding action, such as whether an article is clamped, through the feedback force or feedback torque acting on the first interaction module, without the need for confirmation through other means, and the control efficiency is improved.

[0112] The first interaction module corresponds to the interaction module for controlling the mechanical gripper in the foregoing embodiments, and can specifically be a trigger key, a joystick, a rotatable knob, or other types of interaction modules. The first interaction module can move under the operation of the user, and the micro control unit of the remote control device can obtain first control data based on the movement amplitude of the first interaction module, the first control data corresponding to the foregoing mechanical gripper control data and being used to control the mechanical gripper to grasp an object.

[0113] As some examples, the first interaction module can be a trigger key rotating around a fixed shaft, the trigger key can be pressed by the user to rotate around the fixed shaft, and can return to the initial position when not pressed, and the angle turned relative to the initial position when pressed corresponds to the movement amplitude of the trigger key. The first interaction module can be a joystick, and the amplitude of the swing when the joystick is pushed and swung by the user corresponds to the movement amplitude of the first interaction module. The first interaction module can be a rotatable knob, which can be rotated under the action of an external torque, and the angle turned corresponds to the movement amplitude of the first interaction module.

[0114] The manner of obtaining the movement amplitude is not limited. In some embodiments, the remote control device can set a dedicated sensor for the first interaction module, and the sensor detects the movement amplitude of the first interaction module and outputs to the first micro control unit. It should be understood that the above-mentioned sensor has an angle or displacement detection function and can convert the detected angle or displacement into an electrical signal output to the first micro control unit. In some embodiments, the sensor can directly detect the movement amplitude of the first interaction module and output to the first micro control unit.

[0115] In some other embodiments, in order to more accurately detect the movement amplitude of the first interaction module, the movement of the first interaction module is converted into the rotation angle of a rotatable component, so that the rotation angle is detected by a sensor and output to the first micro control unit as the movement amplitude. The above-mentioned rotatable component can be a gear or a motor.

[0116] Taking the rotating component as an electric motor, the first interaction module can be installed on the motor shaft of an electric motor, and movement of the first interaction module drives the motor shaft to rotate. The sensor can feed back the angle of rotation of the motor shaft to the first micro control unit, and the first micro control unit takes the received angle of rotation of the motor shaft as the movement amplitude. In this embodiment, the sensor can be an encoder, which is arranged on the motor shaft and can directly collect the rotation angle of the motor shaft. Optionally, when the remote control device has the force feedback motor for outputting the feedback torque in the foregoing embodiment, the motor for outputting the movement amplitude can be the force feedback motor, i.e., the force feedback motor has both the functions of reflecting the movement amplitude of the first interaction module and outputting the feedback force.

[0117] The method for obtaining the first control data according to the movement amplitude is as follows:

[0118] The first proportional coefficient Prop1 is determined according to the length of the movement amplitude interval [MIN m , MAX m ] and the length of the operation part action interval [MIN g , MAX g ], and specifically, the former is divided by the latter, and the obtained ratio is taken as the first proportional coefficient. The length of the interval is the difference between the upper limit of the interval and the lower limit of the interval; this process can be seen from the following formula (1).

[0119]

[0120] The relative movement amount of the operation part is determined according to the difference between the current movement amplitude and the movement amplitude interval and the first proportional coefficient, and the first control data P g is determined according to the relative movement amount and the lower limit of the operation part action interval; this process can be seen from the following formula (2).

[0121] P g = (P m -MIN m )*Prop1+MIN g .

[0122] Wherein, (P m -MIN m )*Prop1 is equivalent to the relative movement amount of the operation part, and P m represents the current obtained movement amplitude.

[0123] MIN m and MAX m represent the lower limit and the upper limit of the movement amplitude of the first interaction module, and MIN g and MAX g represent the lower limit and the upper limit of the movement amplitude of the operation part.

[0124] Taking the rotation angle of the motor shaft of the force feedback motor as an example of the motion amplitude of the first interaction module, and taking the opening and closing angle of the mechanical gripper as an example of the motion amplitude of the operation part, MIN m and MAX m respectively represent the minimum angle and the maximum angle of the rotation of the motor shaft of the force feedback motor, P m is the current rotation angle of the motor shaft of the force feedback motor. MIN g and MAX g respectively represent the minimum angle and the maximum angle of the opening and closing of the mechanical gripper.

[0125] Based on the first proportional coefficient Prop1, the current angle of the force feedback motor on the handle operator, the preset force feedback motor motion range, and the preset mechanical gripping action range, position mapping is performed to determine the target position of the current mechanical gripping. The first control data calculated in this way can represent how large the operation part should act under the current motion amplitude of the first interaction module, and the larger the motion amplitude of the first interaction module, the larger the action amplitude of the operation part.

[0126] Taking the mechanical gripper as an example of the operation part, the micro control unit sends P g to the robot, and the robot can take P g as the target to control the opening and closing angle of the mechanical gripper to P g .

[0127] In step S503, the controlled device sends the pressure borne by the operation part when gripping the object to the micro control unit as a first value. After receiving the first value, the micro control unit determines a second value according to the first value. The second value is used to represent the feedback force of the first interaction module. The remote control device can determine the second value in various ways as long as the first value and the second value are positively correlated. For example, a mapping relationship table can be preset, which includes a plurality of first values and corresponding second values. The remote control device can determine the second value by looking up the table and performing linear interpolation based on the data recorded in the table.

[0128] For another example, the method for the remote control device to determine the second value according to the first value fed back by the controlled device can be:

[0129] obtaining a feedback proportional coefficient determined based on the length of the first interval and the length of the second interval, the first interval representing the detection range of a first detection module in the controlled device for detecting the first value, and the second interval representing the output range of a first output module for outputting the feedback force or the feedback torque;

[0130] determining a second relative value according to the feedback proportional coefficient and a first relative value determined based on the first value, the first relative value being the difference of the first value relative to the lower limit of the first interval;

[0131] The second value is determined according to the second relative value and the lower limit of the second interval.

[0132] The specific output feedback force or feedback torque can be determined by the type of the first output module. If the first output module is a motor, for example, the aforementioned force feedback motor, the output in S504 can be a feedback torque, that is, the torque output by the force feedback motor. In this case, the second value can be represented as T m , and the second value can be represented as F m .

[0133] Taking the first detection module as a tactile sensor and the first output module as a force feedback motor as an example, the first interval is the range of force values that the tactile sensor can detect, and the second interval is the range of torque that the force feedback motor can output. The above method can be represented by the following formulas (3) and (4). Formula (3) is: Prop2 = (MAX t -MIN t ) / (MAX s -MIN s ); and formula (4) is: T m = (F s -MIN s ) * Prop2 + MIN t .

[0134] Where [MIN s , MAX s ] represents the first interval, [MIN t , MAX t ] represents the second interval, Prop2 is the feedback proportionality coefficient, which can also be referred to as the second proportionality coefficient, F s is the first value, and T m is the second value.

[0135] The first detection module, for example, the tactile sensor provided on the aforementioned mechanical gripper, the first interval can represent the detection range of the tactile sensor, in other words, MIN s may be equal to or slightly greater than the minimum pressure that the tactile sensor can detect, and MAX s may be equal to or slightly less than the maximum pressure that the tactile sensor can detect.

[0136] In some optional embodiments, the first interval can also be determined according to the first values obtained in a historical time period, which can be a preset historical length of time as of the current time, such as the last 1 hour, the last 12 hours, the last 30 minutes, etc., without limitation. Specifically, the maximum value of the plurality of first values obtained in the historical time period can be taken as the upper limit of the first interval, and the minimum value of the plurality of first values obtained in the historical time period can be taken as the lower limit of the first interval.

[0137] In the second interval, MIN t may be equal to or slightly greater than the minimum torque that the first output module can output, and MAX t may be equal to or slightly less than the maximum torque that the first output module can output.

[0138] The advantage of determining the second value in the above manner is that, on the one hand, it avoids the determined second value exceeding the output capability of the first output module and causing failure or abnormality, and on the other hand, it can provide a feedback force or feedback torque that varies linearly with the first value, so that the user feels more stable resistance and improves the use experience.

[0139] If the controlled device feeds back a plurality of first values, for example, a plurality of first values are fed back by a plurality of tactile sensors, the first value used in the above method of determining the second value can be replaced by the average value of the plurality of first values, and the determination process remains unchanged.

[0140] The direction of the feedback force and the direction of the feedback torque are opposite to the movement direction of the first interaction module, and the user is pressed by the opposite action, so that the user perceives the pressure borne by the operating part of the controlled device. It should be understood that, in the case of outputting the feedback force, the action direction of the feedback force is opposite to the movement direction of the first interaction module under the action of the external force from the user, and in the case of outputting the feedback torque, the action direction of the feedback torque is opposite to the movement direction of the first interaction module under the action of the external torque from the user.

[0141] As an example, the first interaction module is a trigger key, which drives the motor shaft of the force feedback motor to rotate clockwise by a certain angle under the pressing of the user's finger, i.e., the movement direction is clockwise, and the feedback torque output by the force feedback motor as the first output module can be a torque acting in the counterclockwise direction of the motor shaft, i.e., the direction of the feedback torque is counterclockwise.

[0142] Optionally, the operating part of the controlled device is connected to the device body of the controlled device through the connecting part, for example, the mechanical gripper is connected to the body of the robot through the mechanical arm, and the remote control device can include a posture measurement unit, such as the aforementioned IMU. The device body can be, for example, the body 200 of the robot shown in the figure. Figure 1 The body 200 of the robot shown in the figure.

[0143] In the case that the remote control device comprises a posture measurement unit and the controlled device has a connection part, the method of the embodiment can also control the posture of the connection part of the controlled device according to the posture of the remote control device, please refer to Figure 6 The specific control method can comprise the following steps:

[0144] S601, obtaining first device posture data of the remote control device.

[0145] S602, determining second device posture data representing the posture of the connection part according to the first device posture data.

[0146] S603, determining second control data according to at least the second device posture data.

[0147] S604, sending the second control data to the controlled device to control the posture of the connection part based on the second control data.

[0148] The embodiment has the beneficial effect that the method of the embodiment supports the user to control the posture of the connection part of the controlled device by controlling the device posture of the remote control device, providing a more intuitive way for the user to control the posture of the connection part, and compared with the scheme in the related art which mainly controls through the interactive module such as joystick, the method of the embodiment can reduce the number of interactive modules that the user needs to operate when using the remote control device, improving the convenience of use.

[0149] The first device posture data can be measured in real time by the posture measurement unit built-in the remote control device at a certain measurement period and output to the first micro control unit of the remote control device. According to the different posture measurement units used, the output first device posture data can be different, as long as it can represent the device posture of the remote control device. As an example, in the case that the posture measurement unit is IMU, the first device posture data can be quaternion O (w, x, y, z) representing the device posture of the remote control device based on the rotation angle around the X, Y, Z axes of the three-dimensional orthogonal coordinate system, which is composed of four elements, wherein w is the real part, representing the cosine value M of rotation; x, y, z are all imaginary parts, representing three dimensions of rotation around the X, Y, Z axes.

[0150] The implementation of S602 can be:

[0151] According to the first device posture data, a plurality of posture angle data representing the posture of the controlled device is calculated, and the set of the plurality of posture angle data is taken as the second device posture data.

[0152] The above method can be expressed by formula (5): (Rx, Ry, Rz) = Quaternion_to_Euler (O (w, x, y, z)). Wherein, Quaternion_to_Euler () represents a quaternion to Euler angle algorithm, which is a mathematical algorithm for converting the posture of an object in a three-dimensional space from a quaternion representation to an Euler angle representation. The quaternion to Euler angle algorithm can be implemented by the following formulas (6) to (8).

[0153] Formula (6): roll = Rx = arctan2 (2 (w*x+y*z), 1-2 (x 2 +y 2 ) ).

[0154] arctan2 () represents a two-parameter arctangent function, which returns the size of the angle between the positive X axis and the vector pointing to the coordinate point in the parentheses, with the unit of radian.

[0155] Formula (7): pitch = Ry = arcsin (2 (w*y-z*x)).

[0156] arcsin () represents an inverse sine function, which returns the size of the angle whose sine value is equal to the value in the parentheses, with the unit of radian.

[0157] Formula (8): yaw = Rz = arctan2 (2 (w*z+x*y), 1-2 (z 2 +y 2 ) ).

[0158] (Rx, Ry, Rz) is the second device posture data, and Rx, Ry and Rz are the above-mentioned plurality of attitude angle data. In the embodiment, the second device posture data can specifically represent the attitude of the end of the connecting part, which is the end of the connecting part connected with the operating part, for example, the end where the mechanical gripper is located. Rx in the second device posture data can represent the roll angle (roll) of the end of the connecting part, Ry can represent the pitch angle (pitch) of the end of the connecting part, and Rz can represent the yaw angle (yaw) of the end of the connecting part. Figure 1

[0159] In step S603, if the interaction data of the second interaction module is not obtained, the second control data can be determined only according to the second device posture data, and if the interaction data of the second interaction module is obtained when the second device posture data is obtained, the second control data can be determined according to the interaction data of the second interaction module and the aforementioned second device posture data.

[0160] ​The interaction data of the second interaction module refers to data capable of representing the state of the second interaction module, the second interaction module being an interaction module in the remote control device for controlling the connection part of the controlled device, for example, the aforementioned interaction module for controlling the mechanical arm. In some examples, the second interaction module can be a joystick on the remote control device for controlling the mechanical arm, or can be a button for controlling the mechanical arm.

[0161] Optionally, if the interaction data of the second interaction module is obtained, the method of determining the second control data according to at least the second device posture data can be:

[0162] determining target end position data representing the expected position of the end according to the current end position data representing the position of the end corresponding to the connection part and the interaction data obtained by the second interaction module of the remote control device;

[0163] determining the second control data according to the second device posture data and the target end position data, the second control data at least including target position data of the joint mechanism included in the connection part.

[0164] According to different second interaction modules, the types of interaction data are different, and the methods of determining the target end position data are also different. The following describes the methods of determining the target end position data in combination with two common types of second interaction modules.

[0165] If the second interaction module includes a button for controlling the mechanical arm, the interaction data can include the identification of the button pressed and the duration (denoted as dt1) after the button is pressed, that is, how long the button is pressed. In this case, the target end position data can be determined according to formula (9) and formula (10).

[0166] Formula (9): dP = V*dt1; Formula (10): P1 = P0 + dP.

[0167] Wherein, V represents a preset end moving speed, the value of which can be preconfigured by the user according to relevant software, or can be preconfigured by the user through an external selection potentiometer or dial of the remote control device.

[0168] dP is a vector representing a position increment, the length of the vector being equal to V*dt1, and the direction of the vector being determined by the identification of the button pressed in the interaction data. For example, the identification of the interaction data indicates that the button pressed is a button for controlling the end of the connection part to move in the positive direction of the X axis, so the direction of dP is the positive direction of the X axis. The identification of the interaction data indicates that the button pressed is a button for controlling the end of the connection part to move in the negative direction of the Z axis, so the direction of dP is the negative direction of the Z axis.

[0169] P0 represents current end position data, which is used to represent the current position of the end of the connecting part, and can be represented by coordinates (x0, y0, z0) in a three-dimensional rectangular coordinate system, P1 represents target end position data, which is used to represent the expected position to which the end of the connecting part should move, and can be represented by coordinates (x1, y1, z1) in a three-dimensional rectangular coordinate system, formula (10) is equivalent to moving the end of the connecting part from the current end position data to the target end position data by the vector dP.

[0170] If the second interaction module includes a joystick for controlling the robot arm, the interaction data can include an offset amplitude, an offset direction, and an offset duration. The offset direction indicates the direction in which the joystick is offset under the user's push, the offset amplitude can indicate the included angle of the joystick after offset, which is equivalent to the included angle of the position of the joystick after offset relative to the initial position, the initial position refers to the default position of the joystick when it is not pushed by external force, and the offset duration indicates how long the joystick is offset in the offset direction and offset amplitude, for example, the user continuously pushes the joystick forward for 0.5 seconds, and the offset duration is 0.5 seconds. The offset amplitude can be a radian value, an angle value, or a relative amplitude value, which is a ratio of the included angle of the joystick after the current offset to the upper limit of the included angle of the joystick after the offset.

[0171] In the case that the second interaction module includes a joystick for controlling the robot arm, the target end position data can be determined based on formulas (10), (11), and (12).

[0172] Formula (11): V' = S*Q; Formula (12): dP = V' * dt2.

[0173] Wherein, V' represents the end offset speed, V' can be a vector, the direction of V' is determined by the offset direction, for example, the offset direction is forward offset, then the direction of V' can be the positive direction of the Y axis, and the offset direction is right offset, then the direction of V' can be the positive direction of the X axis, the size of V' is equal to S*Q, S is the offset amplitude, Q is a preset speed proportion coefficient, which is used to map the offset amplitude of the joystick to the size of the end offset speed, and dt2 represents the offset duration. After obtaining the position increment dP according to formulas (11) and (12), the target end position data can be obtained according to formula (10) by combining the position increment and the current end position data.

[0174] As can be seen from the above two methods of determining the target end position data, the remote control device can first determine the position increment of the end of the connecting part according to the interaction data of the second interaction module, for example, determine the aforementioned dP, and then determine the target end position data reached by the end after moving by the position increment according to the position increment and the current end position data.

[0175] In the above embodiments, the current end position data can be detected by the controlled device in real time and fed back to the remote control device, or can be obtained by other means, and the specific obtaining method can be referred to the related art, which is not described herein.

[0176] After obtaining the target end position data, the remote control device can input the second device attitude data and the target end position data into the pre-configured robot inverse kinematics function to calculate the second control data. The process can be represented by the following formula (13).

[0177] Formula (13): [Pos(Axis1) … … Pos(AxisN)] = IK(P1, (Rx, Ry, Rz)).

[0178] Optionally, if the interaction data of the second interaction module is not obtained when the second device attitude data is obtained, the second control data can also be calculated by the method of formula (13), which only needs to replace P1 of formula (13) with P0 representing the current end position data.

[0179] Axis1 to AxisN represent the N joint mechanisms of the connecting part, and Pos(Axis1) to Pos(AxisN) represent the target position data of the N joint mechanisms. As an example, if the connecting part is the mechanical arm shown in Figure 1 , formula (13) is equivalent to [Pos(Axis1), Pos(Axis2)] = IK(P1, (Rx, Ry, Rz)).

[0180] IK() represents a pre-configured robot inverse kinematics function, and the specific calculation process can be referred to the related art, which is not described herein.

[0181] After obtaining the second control data, the remote control device can send the second control data to the controlled device through the communication module, and the controlled device controls the driving components of itself according to the indication of the second control data to drive the connecting part, so that the joint structures of the connecting part move to the positions indicated by the target position data in the second control data. After the movement is completed, the end of the connecting part can be positioned at the position indicated by the target end position data, and the attitude of the end of the connecting part is the attitude indicated by the second device attitude data.

[0182] In some optional embodiments, the first device attitude data can also be used to control the attitude of the device body of the remote control device. For example, after the roll angle, the pitch angle and the yaw angle are calculated based on the first device attitude data according to the foregoing method, at least one part of the device body of the remote control device can be controlled to rotate based on the three angles, so that the part has the calculated roll angle, pitch angle and yaw angle. For example, the controlled device can be a humanoid robot, and the torso part of the humanoid robot can be controlled to rotate according to the calculated roll angle, pitch angle and yaw angle.

[0183] Optionally, the remote control device can further comprise a vibration module, for example comprising the aforementioned linear vibration motor, in which case the control method of the present embodiment can further comprise controlling the vibration module to vibrate according to the first value, and the method of controlling the vibration module to vibrate can comprise:

[0184] determining a vibration parameter value according to the first value;

[0185] controlling the vibration module of the remote control device to vibrate according to the vibration parameter value.

[0186] The vibration parameter value can comprise any one or more of a vibration frequency value and a vibration amplitude value. For ease of illustration, the implementation process of the present embodiment will be described below with reference to a vibration parameter value comprising a vibration frequency value.

[0187] The manner of determining the vibration frequency value according to the first value is not limited, for example a mapping relationship table can be pre-set, comprising a plurality of first values and corresponding vibration frequency values, and the remote control device can determine the vibration frequency value by looking up the table and performing linear interpolation based on the data recorded in the table.

[0188] Optionally, the method of determining the vibration parameter value according to the first value can further comprise:

[0189] obtaining a third interval and a vibration parameter interval of the vibration module, the third interval being determined based on historical values of the controlled device, the historical values representing the pressure borne by the operating part when the operating part is in contact with the object within a predetermined historical period;

[0190] determining the vibration parameter value according to the first value, the third interval and the vibration parameter interval.

[0191] The above process of determining the vibration parameter value can be represented by the following formulas (14) and (15).

[0192] Formula (14): Prop3 = (MAX F -MIN F ) / (MAX s3 -MIN s3 ); Formula (15): F m = (F s -MIN s3 ) * Prop3 + MIN F .

[0193] wherein [MIN F , MAX F ] is the vibration parameter interval, specifically a vibration frequency interval, MIN F may be the lowest vibration frequency allowed by the linear vibration motor, and MAX F may be the highest vibration frequency allowed by the linear vibration motor, and F mis a vibration frequency value. Prop3 is a third linear proportionality coefficient obtained by dividing the length of the vibration parameter interval by the length of the third interval, [MIN s3 , MAX s3 ] is the third interval, which can be determined according to the first values obtained in a historical time period, which can be a preset historical length as of the current time, for example, can be the last 1 hour, the last 12 hours, the last 30 minutes, etc., without limitation. Specifically, the maximum value of the plurality of first values obtained in the historical time period can be taken as the upper limit MAX s3 of the third interval, and the minimum value of the plurality of first values obtained in the historical time period can be taken as the lower limit MIN s3 .

[0194] Optionally, the third interval in the above method can be replaced by the first interval described above, and the other steps remain unchanged.

[0195] After obtaining the vibration frequency value, the second micro control unit can control the vibration module (such as a linear vibration motor) to vibrate at the vibration frequency value.

[0196] Optionally, if the vibration parameter value only includes the vibration frequency value, the vibration amplitude value can be determined according to the frequency-amplitude mapping relationship, and the vibration module is controlled to vibrate at the vibration amplitude value, or it can always vibrate at the default vibration amplitude value. The form of the frequency-amplitude mapping relationship is not limited, as an example, a plurality of optional vibration amplitude values can be set, each vibration amplitude value corresponds to a frequency interval, and according to the frequency interval in which the vibration frequency value is located, the corresponding optional vibration amplitude value is selected to control the vibration module to vibrate.

[0197] The above method of determining the vibration frequency value can be used to determine the vibration amplitude value, and the specific determination process is the same, which is not described in detail.

[0198] Optionally, the vibration module can have multiple vibration modes, for example, at least including a first vibration mode and a second vibration mode, in the first vibration mode, the vibration module can continuously vibrate for a first time length (such as 10 seconds) and then stop, in the second vibration mode, the vibration module can vibrate every 3 seconds, each vibration lasts for 4 seconds, and stops after vibrating three times.

[0199] In the case of including multiple vibration modes, a vibration mode parameter interval can be configured for each vibration mode, and each vibration mode parameter interval corresponds to a certain range of vibration parameter values. Therefore, the second micro control unit can control the vibration module to vibrate in the corresponding vibration mode according to the vibration mode interval in which the vibration parameter value F m is located. Alternatively, the specific vibration mode to be used can be selected by the user.

[0200] The embodiment of the application also relates to a remote control device, which is in communication connection with a controlled device, and the controlled device has an operation part for operating an object;

[0201] The remote control device comprises:

[0202] A teleoperation control module is configured to obtain first control data based on a motion amplitude of the first interaction module in response to the first interaction module of the remote control device being moved;

[0203] A communication module is configured to send the first control data to the controlled device, so that the controlled device controls the operation part based on the first control data;

[0204] The communication module is further configured to receive a first value fed back by the controlled device, and the first value represents a pressure borne by the operation part when the operation part contacts the object;

[0205] A force tactile feedback module is configured to:

[0206] The force tactile feedback module is further configured to determine a second value according to the first value fed back by the controlled device, the first value representing the pressure borne by the operation part when the operation part contacts the object, and the second value is positively correlated with the first value;

[0207] The force tactile feedback module is further configured to output a feedback force or a feedback torque acting on the first interaction module according to the second value, wherein the direction of the feedback force and the direction of the feedback torque are opposite to the motion direction of the first interaction module.

[0208] Optionally, the operation part is connected to a device body of the controlled device through a connecting part, and the teleoperation control module further comprises a posture measurement unit configured to obtain first device posture data of the remote control device;

[0209] The teleoperation control module is further configured to:

[0210] The teleoperation control module is further configured to determine second device posture data representing the posture of the connecting part according to the first device posture data;

[0211] The teleoperation control module is further configured to determine the second control data according to at least the second device posture data;

[0212] The communication module is further configured to send the second control data to the remote control device, so that the posture of the connecting part is controlled based on the second control data.

[0213] Optionally, the force tactile feedback module further comprises a vibration module;

[0214] The force tactile feedback module is further configured to:

[0215] The force tactile feedback module is further configured to determine a vibration parameter value according to the first value;

[0216] The force tactile feedback module is further configured to control the vibration module of the remote control device to vibrate according to the vibration parameter value.

[0217] The structure of the remote control device can be referred to the foregoing embodimentsFigure 2 and Figure 4 The working principle of the remote control device can be seen from the related steps of the control method of the remote control device in the foregoing embodiments, and will not be described herein.

[0218] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each of the embodiments mainly describes the difference from other embodiments. In particular, for the system or system embodiments, since it is basically similar to the method embodiments, the description is relatively simple, and the related parts can be referred to the part of the method embodiments. The system and system embodiments described above are merely illustrative, and the units described as separate components can be or can not be physically separated, and the components displayed as units can be or can not be physical units, that is, they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0219] The skilled person can further realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in the above description in general terms. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0220] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a remote-controlled device, characterized in that, The control method is applied to a remote control device, wherein the remote control device and the controlled device are communicatively connected, and the controlled device has an operating part for manipulating an object. In response to the movement of the first interaction module of the remote control device, first control data is obtained based on the movement amplitude of the first interaction module; The first control data is sent to the controlled device, so that the controlled device controls the operating unit based on the first control data; A second value is determined based on a first value fed back by the controlled device, wherein the first value characterizes the pressure borne by the operating part when the operating part comes into contact with the object, and the second value is positively correlated with the first value. The feedback force or feedback torque acting on the first interaction module is output according to the second value, wherein the direction of the feedback force and the direction of the feedback torque are opposite to the direction of movement of the first interaction module; The operating unit is connected to the device body of the controlled device via a connecting unit, and the method further includes: Obtain the first device attitude data of the remote control device; Based on the first device attitude data, second device attitude data characterizing the attitude of the connecting part is determined; The second control data is determined at least based on the second device attitude data; Send the second control data to the controlled device to control the attitude of the connection part based on the second control data; The connecting part includes at least one joint mechanism and a connecting mechanism for connecting the joint mechanism; The second device attitude data characterizes the attitude of the end of the connector, where the end of the connector refers to the end where the connector and the operating part are connected; The determination of the second control data based at least on the second device attitude data includes: Based on the current end position data corresponding to the end of the connecting part and the interaction data obtained through the second interaction module of the remote control device, the target end position data representing the expected position of the end is determined; The second control data is determined based on the second device posture data and the target end position data, wherein the second control data includes at least the target position data of the joint mechanism contained in the connecting part.

2. The method according to claim 1, characterized in that, Determining the second value based on the first value fed back by the controlled device includes: A feedback scaling factor is obtained based on the length of a first interval and the length of a second interval, wherein the first interval represents the detection range of a first detection module in the controlled device used to detect the first value, and the second interval represents the output range of a first output module used to output the feedback force or feedback torque. A second relative value is determined based on the feedback proportional coefficient and a first relative value determined based on the first value, wherein the first relative value is the difference between the first value and the lower limit of the first interval; The second value is determined based on the second relative value and the lower limit of the second interval.

3. The method according to claim 1, characterized in that, The step of determining the second device attitude data characterizing the attitude of the connecting part based on the first device attitude data includes: Multiple attitude angle data representing the attitude of the connecting part are calculated based on the first device attitude data, and the set of the multiple attitude angle data is used as the second device attitude data.

4. The method according to claim 1, characterized in that, The remote control device further includes a vibration module, and the method further includes: Determine the vibration parameter value based on the first value; The vibration module of the remote control device is controlled to vibrate according to the vibration parameter values.

5. The method according to claim 4, characterized in that, Determining the vibration parameter value based on the first value includes: Obtain a third interval determined based on the historical values ​​of the controlled device and the vibration parameter interval of the vibration module, wherein the historical values ​​characterize the pressure borne by the operating part when the operating part comes into contact with the object within a preset historical period; The vibration parameter value is determined based on the first value, the third interval, and the vibration parameter interval.

6. A remote control device, characterized in that, The remote control device and the controlled device are communicatively connected, and the controlled device has an operating part for operating the object; The remote control device includes: The remote operation control module is used to respond to the movement of the first interaction module of the remote control device and obtain first control data based on the movement amplitude of the first interaction module. The communication module is used to send the first control data to the controlled device, so that the controlled device controls the operation unit based on the first control data; The communication module is also used to receive a first value fed back by the controlled device, the first value representing the pressure borne by the operating part when the operating part comes into contact with the object; Force-haptic feedback module, used for: A second value is determined based on a first value fed back by the controlled device, wherein the first value characterizes the pressure borne by the operating part when the operating part comes into contact with the object, and the second value is positively correlated with the first value. The feedback force or feedback torque acting on the first interaction module is output according to the second value, wherein the direction of the feedback force and the direction of the feedback torque are opposite to the direction of movement of the first interaction module; The operation unit is connected to the device body of the controlled device via a connection unit. The remote operation control module also includes an attitude measurement unit for obtaining the first device attitude data of the remote-controlled device. The remote operation control module is also used for: Based on the first device attitude data, second device attitude data characterizing the attitude of the connecting part is determined; The second control data is determined at least based on the second device attitude data; The communication module is also used to send the second control data to the remote control device so as to control the attitude of the connection part based on the second control data; The connecting part includes at least one joint mechanism and a connecting mechanism for connecting the joint mechanism; The second device attitude data characterizes the attitude of the end of the connector, where the end of the connector refers to the end where the connector and the operating part are connected; The remote operation control module is also used for: Based on the current end position data corresponding to the end of the connecting part and the interaction data obtained through the second interaction module of the remote control device, the target end position data representing the expected position of the end is determined; The second control data is determined based on the second device posture data and the target end position data, wherein the second control data includes at least the target position data of the joint mechanism contained in the connecting part.

7. The remote control device according to claim 6, characterized in that, The force-tactile feedback module also includes a vibration module; The force-tactile feedback module is also used for: Determine the vibration parameter value based on the first value; The vibration module of the remote control device is controlled to vibrate according to the vibration parameter values.

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