Dual-mode incremental teleoperation control method and system, medium and equipment

Abstract

The invention provides a dual-mode incremental teleoperation control method and system, a medium and equipment, and relates to the technical field of teleoperation robots. In the hole aligning operation, dual-mode separation control is executed: when a position control mode is entered, the posture of the tail end of the slave end mechanical arm at the moment is recorded as a reference posture; only the position of the slave end mechanical arm is updated, the attitude target is locked as the reference attitude, and the variable quantity is tracked for real-time adjustment; when an attitude control mode is entered, the position of the tail end of the slave end mechanical arm at the moment is recorded as a reference position; only the posture of the slave end mechanical arm is updated, the position target is locked as the reference position, and the variable quantity is tracked for real-time adjustment; a direction mapping relation is established between a master end and a slave end, the displacement increment of the master end is mapped to a tool coordinate system of the slave end according to a set proportion, and alignment operations with different precisions are supported. According to the invention, through dual-mode separation control and master-slave direction mapping, the accuracy, safety and operation efficiency of pin supplementing and hole aligning operation of the power transmission line are improved.

Description

Technical Field

[0001] This invention relates to the field of teleoperated robot technology, and in particular to a dual-mode incremental teleoperation control method, system, medium, and device. Background Technology

[0002] The replacement of pins in power transmission lines is a crucial procedure for ensuring their safe operation. It typically requires aligning and inserting pins in complex environments such as high-altitude strong winds and confined spaces. The accuracy and safety of the operation directly determine its success. To reduce the risks of working at heights and improve efficiency, the industry commonly employs a master-slave remote control method: the ground operator inputs control commands via a master-end force feedback device or handle, and the slave-end robotic arm executes precise movements at height. This mode has become the mainstream technical approach for live-line work at heights.

[0003] However, existing master-slave teleoperation systems still face significant bottlenecks in the engineering practice of pin-to-hole alignment: In attitude control scenarios, when the robotic arm approaches a singular configuration, triggers joint limiting, or experiences inverse kinematics instability, simply adjusting the attitude can cause significant end-effector position drift, leading not only to deviation from the hole position but also to collisions; in position control scenarios, numerical errors, coupling effects, or communication jitter can cause attitude deviations, making it impossible to align the pin direction with the hole position. Furthermore, the difference in coordinate systems between the master and slave ends can easily cause heterogeneous master-slave direction mismatches, reducing operational intuitiveness and further restricting the efficiency and reliability of pin-to-hole alignment operations.

[0004] These defects are amplified in the complex environment at high altitudes, increasing the operational burden on workers and posing a potential threat to the safe operation of transmission lines. A more precise and stable control solution is urgently needed to solve these problems. Summary of the Invention

[0005] To address the aforementioned issues, this invention proposes a dual-mode incremental teleoperation control method, system, medium, and device. By employing dual-mode separation control and master-slave direction mapping, it effectively solves the problems of position drift during attitude control and attitude drift during position control in traditional teleoperation, and eliminates heterogeneous master-slave direction mismatch, thereby effectively improving the accuracy, safety, and operational efficiency of transmission line pin-to-hole repair operations.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a dual-mode incremental teleoperation control method, comprising: During hole drilling operations, dual-mode separation control is implemented: when entering position control mode, the current posture of the end effector of the slave robot is recorded as a reference posture; while updating the position of the slave robot based on the position target, the posture target is locked as the reference posture, and the change is tracked for real-time adjustment. When entering the attitude control mode, the current position of the end of the slave robot arm is recorded as the reference position; while updating the attitude of the slave robot arm based on the attitude target, the position target is locked as the reference position, and the change is tracked for real-time adjustment. A direction mapping relationship is established between the master and slave ends, and the displacement increment of the master end is mapped to the tool coordinate system of the slave end according to a set ratio to support alignment operations of different precision.

[0007] Secondly, the present invention provides a dual-mode incremental teleoperation control system, comprising: The dual-mode control module is configured to perform dual-mode separation control during hole drilling operations: when entering the position control mode, the current posture of the end effector of the slave robot is recorded as a reference posture; while updating the position of the slave robot based on the position target, the posture target is locked as the reference posture, and the changes are tracked for real-time adjustment. When entering the attitude control mode, the current position of the end of the slave robot arm is recorded as the reference position; while updating the attitude of the slave robot arm based on the attitude target, the position target is locked as the reference position, and the change is tracked for real-time adjustment. The mapping alignment module is configured to establish a direction mapping relationship between the master and slave ends, mapping the displacement increment of the master end to the tool coordinate system of the slave end according to a set ratio, so as to support alignment operations with different precision.

[0008] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the dual-mode incremental teleoperation control method described in the first aspect.

[0009] Fourthly, the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the dual-mode incremental teleoperation control method described in the first aspect.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) This invention employs a dual-mode separation control mechanism, locking the attitude in position control mode and the position in attitude control mode. Combined with reference frame recording and threshold backoff strategies, it can precisely suppress the coupling drift between position and attitude in complex high-altitude environments, completely resolving the collision risk caused by position offset during attitude control and the pin orientation misalignment problem caused by attitude offset during position control in traditional teleoperation. Simultaneously, the master-slave orientation mapping and scaling functions accurately map the master-end displacement increment to the slave-end tool coordinate system, eliminating orientation mismatch between heterogeneous master and slave systems and significantly improving operational intuitiveness and micro-motion alignment accuracy. These technical optimizations not only reduce the operational burden on ground operators but also ensure the stability and reliability of high-altitude pin-to-hole alignment operations, providing crucial technical support for the safe operation of transmission lines.

[0011] (2) The present invention suppresses position / attitude drift caused by singularity, amplitude limiting and solution instability through a closed-loop mechanism of channel holding, drift detection and back-down recovery, thereby improving the stability and safety of the hole.

[0012] (3) This invention achieves linear input at the master end and linear output at the slave end by incremental accumulation of the tool coordinate system and mapping of the rotation matrix, thereby improving the intuitiveness and responsiveness of operation.

[0013] (4) The present invention achieves millimeter-level micro-motion in the fine alignment stage by adjusting the scaling ratio, thereby improving the hole alignment efficiency.

[0014] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0015] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute a limitation thereof.

[0016] Figure 1 The main flowchart of a dual-mode incremental teleoperation control method provided in an embodiment of the present invention is shown below. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Example 1 like Figure 1 As shown, this embodiment discloses a dual-mode incremental teleoperation control method, including the following steps: S1: During hole drilling, dual-mode separation control is implemented: when entering position control mode, the current posture of the end of the slave robot arm is recorded as a reference posture; while updating the position of the slave robot arm based on the position target, the posture target is locked as the reference posture, and the change is tracked for real-time adjustment. S2: When entering the attitude control mode, record the current position of the end of the slave robot as the reference position; while updating the attitude of the slave robot based on the attitude target, lock the position target as the reference position, and track the change for real-time adjustment; S3: Establish a direction mapping relationship between the master and slave ends, and map the displacement increment of the master end to the tool coordinate system of the slave end according to a set ratio to support alignment operations of different precision.

[0019] Next, combined Figure 1 This embodiment provides a detailed description of a dual-mode incremental teleoperation control method.

[0020] The system consists of a master device (such as Geomagic Touch), a slave industrial robotic arm (such as the RM65-B, RM63-B and other similar models), a control computing unit and a communication interface.

[0021] The control computing unit collects the master end pose or joint information in real time, calculates the increment and generates the slave end target pose, and issues control commands in combination with safety constraints.

[0022] Next, the coordinate system and variables are defined, and the displacement increment of the master end is defined as... In the principal coordinate system Express; The movement from the end of the tool in the tool coordinate system As a local reference datum, this coordinate system is fixed to the tool and moves with the tool in real time. It is used to accurately describe the position, attitude, and motion increment of the tool end, and is the direct basis for controlling the precise actions of hole drilling; while the base coordinate system... As a fixed global reference base attached to the slave device base, it provides a unified spatial positioning reference for the entire system, used to define the absolute position and attitude of all moving parts.

[0023] The current tool relative to the base coordinate system The pose is determined by the rotation matrix. Real-time representation; this matrix reflects the actual attitude state of the slave tool; while the orientation mapping rotation matrix... This is used to map the direction of the master-end displacement increment to the increment direction of the slave-end tool coordinate system, ensuring that the master and slave motion directions are consistent; the scaling factor Used to adjust the following ratio of master and slave motion, thereby meeting the micro-motion accuracy requirements for hole operations.

[0024] To address issues such as position drift during attitude control, attitude drift during position control, and inconsistencies in master-slave orientation during heterogeneous operations in existing teleoperations, this embodiment introduces a dual-channel, dual-mode control mechanism. By separating the independent control of position and attitude, and combining reference frame recording and drift back strategies, the accuracy and safety of high-altitude pin-to-hole operations are ensured.

[0025] Dual-channel mode includes dual-mode channel hold and mode entry reference frame recording. As one implementation method, different buttons can be configured for different modes to achieve corresponding control. Button 1 triggers the position control mode, which only updates the incremental position of the slave robotic arm's end effector and keeps the end effector's posture unchanged; Button 2 triggers the attitude control mode, which only updates the end-effector attitude increment and keeps the end-effector position unchanged.

[0026] When entering position mode, the system records the current pose of the end effector of the slave robot as a reference pose. When entering posture mode, the current position of the end effector of the slave robot arm will be recorded as a reference position. This provides a baseline for subsequent drift detection and rollback. Specifically: 1. Position control mode When the operator presses button 1 to enter position control mode, the system first records the current posture of the end effector of the robotic arm as a reference posture. or quaternions This attitude remains the attitude target throughout the entire position control mode.

[0027] In this mode, the system only updates the position target of the slave robot arm (i.e., the position coordinates of the slave end effector in the tool coordinate system). ): Generate the position increment in the slave tool coordinate system based on the master input. And accumulate it to the target at the current position. Up; at the same time, the attitude target is always maintained as .

[0028] If the current attitude is detected to be relative to Change Exceeding the threshold Then immediately revert the attitude target to This avoids attitude drift during position control and ensures the consistency of the pin direction.

[0029] Among them, attitude change The preferred method is the equivalent rotation angle; alternatively, it can be achieved using the change in Euler angles; when When attitude drift is detected, attitude rollback is triggered, and the attitude target is rolled back to its original position. At the same time, the position target is kept at the current value.

[0030] 2. Attitude control mode When the operator presses button 2 to enter the attitude control mode, the system first records the position of the end effector of the robotic arm at that moment as a reference position. This position remains the target position throughout the entire attitude control mode.

[0031] In this mode, the system only updates the attitude target of the slave robotic arm: it generates attitude increments based on the master input and updates the attitude target; meanwhile, the position target remains constant. If the current position is detected relative to... offset Exceeding the threshold For example, if a check is performed the moment button 2 is released, the target position will be immediately reverted to the previous position. This avoids position drift during attitude control and prevents the risk of hole deviation or collision caused by drift.

[0032] Among them, position offset Specifically: ; In the formula, This represents the position offset, which is the Euclidean distance between the real-time target position of the robotic arm's end effector at the current moment and the reference position recorded when entering this mode; This indicates the real-time position target of the end effector of the robotic arm during the current control cycle t; Indicates the real-time location target Three-dimensional spatial coordinate components in the coordinate system of the end base; This indicates the reference position recorded and locked by the system at the moment of entering attitude control mode; Indicates reference position The three-dimensional spatial coordinates are fixed in the coordinate system of the base. When When a position drift is detected, a position rollback is triggered, and the target position is rolled back to its original position. At the same time, the attitude target is kept at the current value (attitude mode allows attitude changes).

[0033] As one implementation method, considering that remote operation is susceptible to interference from sensor noise, instantaneous communication jitter, etc., which can cause false instantaneous pose jumps, directly triggering the retraction would cause the robotic arm to shake frequently, leading to false triggering problems. Therefore, a method of continuously satisfying N frames of triggering is proposed to reduce false triggering.

[0034] Specifically, during teleoperation, sensor noise or momentary communication jitter may cause false instantaneous pose jumps. If a retraction is triggered directly, it will cause the robotic arm to "shake" frequently.

[0035] Therefore, a counter `count` is maintained internally within the system. Within each control cycle, if a position offset is detected... The counter increments by 1 if the condition is not met; otherwise, the counter is reset to zero. The position threshold is... As a preset parameter, it represents the maximum range of positional fluctuations allowed by the system.

[0036] Only when the counter continuously accumulates to a preset threshold N (such as N=5 or N=10) will the system determine that a real physical drift has occurred rather than random noise, and then initiate a rollback procedure.

[0037] Furthermore, during the retraction process, the system must impose limits on the end-effector velocity or the maximum displacement increment per cycle. The robotic arm returns to the reference pose at a set, safe, constant speed, rather than making an instantaneous jump, to avoid mechanical shock caused by a secondary jump.

[0038] In this embodiment, by employing independent control strategies of locking the attitude in position mode and locking the position in attitude mode, the risks of pin direction deviation caused by attitude drift and hole position deviation or collision caused by position drift in traditional teleoperation are effectively avoided. Combined with reference frame recording and threshold backoff mechanisms, the system can automatically restore the system to its initial state when drift occurs, effectively improving the accuracy and safety of pin replacement operations on transmission lines. Heterogeneous master-slave direction mapping and micro-motion proportional adjustment further enhance operational intuitiveness and ensure the efficiency and reliability of operations in complex high-altitude environments.

[0039] Furthermore, for incremental mapping and accumulation of the tool coordinate system, the incremental displacement of the master end... By rotation matrix With proportionality coefficient Mapped to tool coordinate displacement increment : To ensure that "forward linear input corresponds to forward linear output," the tool coordinate increment is converted to base coordinates and accumulated in each cycle. ; ; in, The formula for incrementally updating the target position is as follows: This represents the equivalent increment for transforming the tool system increment to the base coordinate system. , Indicates from the end The target position of the cycle.

[0040] Meanwhile, the attitude increment processing steps completely correspond to the displacement increment processing steps, including increment mapping and increment accumulation. However, in mathematical implementation, due to the nonlinear and homogeneous characteristics of attitude, its calculation method differs from the linear addition of displacement.

[0041] For attitude increment mapping, the rotation increment generated by the master device It needs to be mapped to the slave tool coordinate system. To ensure the intuitiveness of the operation, that is, to keep the operation action consistent with the tool rotation direction, a master-slave attitude mapping relationship needs to be established to generate attitude increments in the tool coordinate system. .

[0042] For attitude increment accumulation, the attitude increment must be calculated using rotation matrix multiplication (or quaternion multiplication), and the formula is as follows: ; The method used is "right-hand multiplication". This means that the rotation increment is a local rotation defined relative to the current tool coordinate system, which ensures that the operator can get a consistent "responsiveness" in any pose.

[0043] Furthermore, to resolve orientation mismatches between heterogeneous master-slave devices, the mapping matrix R needs to be calibrated with high precision. For the rotation matrix... Registration and calibration can be obtained through iterative registration.

[0044] First, Initialize to an identity matrix. Then, the operator manipulates the master end device to perform short-range linear incremental movements in each axis direction (such as linear movement along the master end's X-axis), observing and recording the actual response direction of the slave end robot arm in real time, and calculating the deviation angle between it and the desired direction (tool coordinate system axis). Based on this error, the mapping matrix is ​​adjusted. Perform real-time or step-by-step updates, and orthogonalize or normalize the updated matrix (e.g., using Gram-Schmidt or SVD decomposition) to ensure... The property of the rotation matrix is ​​always satisfied. Iterate until the orientation mapping satisfies the threshold to achieve the rotation matrix. Registration and calibration.

[0045] As an optional implementation, multiple incremental pairs can also be collected ( , Perform least squares to solve the linear mapping and decompose it to obtain With scale.

[0046] Furthermore, the proportionality coefficient It can be set to two levels: coarse alignment and fine alignment, or continuously adjustable; threshold , It can be set according to the working space scale and hole accuracy requirements; it is also recommended to configure joint speed limit, joint increment limit per cycle and communication timeout protection to improve field availability.

[0047] Specifically, the essential difference between coarse alignment and fine alignment lies in the different mapping ratios of master and slave motions. The system adjusts the scaling factor... This changes the displacement step size generated by the master input at the slave end.

[0048] (1) Coarse alignment: Adjust the scaling factor Set to a larger value. In this stage, a small displacement of the master end can drive a large displacement increment of the slave end robotic arm, allowing the operator to quickly move the end of the robotic arm from its initial position to near the working hole, thus improving work efficiency.

[0049] (2) Precision alignment: Adjust the scaling factor Switch to a smaller value (such as a millimeter-level scaling ratio). In this stage, larger movements of the master end correspond only to tiny displacements of the slave end, thereby achieving millimeter-level precise alignment and insertion / removal, ensuring the success rate and safety of the replenishment operation.

[0050] During the precise alignment switching process, the system simultaneously configures joint speed limits and cycle increment limits to prevent the robotic arm from jumping suddenly due to misoperation.

[0051] For example, during the pin alignment process in transmission lines, the operator can quickly move the end to the vicinity of the hole in position mode, and then switch to a fine alignment strategy with a smaller ratio coefficient for micro-adjustment; if necessary, the attitude mode can be used to adjust the pin direction.

[0052] This specific embodiment achieves independent control by setting both position and attitude control modes, enabling position control with attitude locking and attitude control with position locking. This effectively avoids pin direction deviation caused by attitude drift, as well as hole position deviation and equipment collision caused by position drift. Combined with a coarse and fine alignment strategy using master-slave direction mapping and micro-motion proportional adjustment, it enhances operational intuitiveness and accuracy, adapting to complex high-altitude power transmission line pin-aligning operations. Furthermore, through drift detection and retraction recovery mechanisms, it automatically retracts to the reference position entered in attitude mode when position drift occurs, improving the success rate and safety of pin alignment while ensuring overall operational efficiency and equipment stability.

[0053] Example 2 This embodiment provides a dual-mode incremental teleoperation control system, including: The dual-mode control module is configured to perform dual-mode separation control during hole drilling operations: when entering the position control mode, the current posture of the end effector of the slave robot is recorded as a reference posture; while updating the position of the slave robot based on the position target, the posture target is locked as the reference posture, and the changes are tracked for real-time adjustment. When entering the attitude control mode, the current position of the end of the slave robot arm is recorded as the reference position; while updating the attitude of the slave robot arm based on the attitude target, the position target is locked as the reference position, and the change is tracked for real-time adjustment. The mapping alignment module is configured to establish a direction mapping relationship between the master and slave ends, mapping the displacement increment of the master end to the tool coordinate system of the slave end according to a set ratio, so as to support alignment operations with different precision.

[0054] Example 3 This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of a dual-mode incremental teleoperation control method as described in Embodiment 1 above.

[0055] Example 4 This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of a dual-mode incremental teleoperation control method as described in Embodiment 1 above.

[0056] The steps or modules involved in Embodiments 2 to 4 above correspond to those in Embodiment 1. For specific implementation details, please refer to the relevant description section of Embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood as including any medium capable of storing, encoding, or carrying an instruction set for execution by a processor and enabling the processor to perform any of the methods in this invention.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A dual-mode incremental teleoperation control method, characterized in that, include: During hole drilling operations, dual-mode separation control is implemented: when entering position control mode, the posture of the end effector of the slave robot is recorded as a reference posture. While updating the position of the slave robot arm based on the position target, the attitude target is locked as the reference attitude, and the changes are tracked for real-time adjustment; When entering the attitude control mode, record the position of the end of the robotic arm at this moment as a reference position; While updating the posture of the slave robotic arm based on the posture target, the position target is locked as the reference position, and the changes are tracked for real-time adjustment; A direction mapping relationship is established between the master and slave ends, and the displacement increment of the master end is mapped to the tool coordinate system of the slave end according to a set ratio to support alignment operations of different precision.

2. The dual-mode incremental teleoperation control method as described in claim 1, characterized in that, The locked attitude target is the reference attitude, and the changes are tracked and adjusted in real time. Specifically, this includes: real-time detection of the change in the end attitude relative to the reference attitude; if it exceeds a preset attitude threshold, attitude rollback is triggered to restore the end attitude to the reference attitude.

3. The dual-mode incremental teleoperation control method as described in claim 1, characterized in that, The target of the locked position is the reference position, and the changes are tracked and adjusted in real time. Specifically, this includes: real-time detection of the offset of the end position relative to the reference position. If the offset exceeds a preset position threshold, position rollback is triggered to restore the end position to the reference position.

4. The dual-mode incremental teleoperation control method as described in claim 3, characterized in that, In attitude control mode, when the preset position threshold is exceeded, the system also employs continuous N-frame triggering to reduce false triggering, specifically: Set a counter to check whether the position offset exceeds a preset threshold in each control cycle. If it exceeds the threshold, the counter is incremented; otherwise, the counter is reset to zero. Only when the counter continuously accumulates to the preset frame number threshold is it determined to be a true position drift, and position rollback is initiated.

5. The dual-mode incremental teleoperation control method as described in claim 1, characterized in that, The step of establishing a direction mapping relationship between the master and slave ends, and mapping the displacement increment of the master end to the tool coordinate system of the slave end according to a set ratio, specifically includes: For displacement increments, a master-slave orientation mapping relationship is established through a rotation matrix and a scaling factor. The master-slave displacement increment is mapped to the slave tool coordinate system. Then, the displacement increment in the tool coordinate system is transformed to the slave base coordinate system. The slave position target is updated by incremental accumulation. For attitude increments, a master-slave attitude mapping relationship is established, converting the master-end rotation increment into the attitude increment in the slave-end tool coordinate system. The attitude increment is accumulated and updated using rotation matrix multiplication or quaternion multiplication to ensure that the operation action is consistent with the movement and rotation direction of the tool, thus realizing the mapping of master-slave motion.

6. The dual-mode incremental teleoperation control method as described in claim 5, characterized in that, The registration and calibration of the rotation matrix specifically includes: Initialize the rotation matrix; Perform several standard test actions and observe the error between the response direction from the slave end and the expected direction; Update the rotation matrix based on the error; The updated rotation matrix is ​​orthogonalized or normalized to preserve its properties. Repeat the update operation until the direction mapping accuracy of the master and slave ends meets the preset threshold requirement.

7. The dual-mode incremental teleoperation control method as described in claim 1, characterized in that, The alignment operations with different precision include a coarse alignment stage and a fine alignment stage. Specifically, the coarse alignment stage sets the scaling factor of the master-slave motion mapping to a larger value, while the fine alignment stage switches the scaling factor to a smaller value. During the fine alignment switching process, joint speed limits and cycle increment limits are configured to prevent the robotic arm from jumping due to misoperation.

8. A dual-mode incremental teleoperation control system, characterized in that, include: The dual-mode control module is configured to perform dual-mode separation control during hole drilling operations: when entering position control mode, the posture of the end effector of the slave robot is recorded as a reference posture. While updating the position of the slave robot arm based on the position target, the attitude target is locked as the reference attitude, and the changes are tracked for real-time adjustment; When entering the attitude control mode, record the position of the end of the robotic arm at this moment as a reference position; While updating the posture of the slave robotic arm based on the posture target, the position target is locked as the reference position, and the changes are tracked for real-time adjustment; The mapping alignment module is configured to establish a direction mapping relationship between the master and slave ends, mapping the displacement increment of the master end to the tool coordinate system of the slave end according to a set ratio, so as to support alignment operations with different precision.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of a dual-mode incremental teleoperation control method as described in any one of claims 1-7.

10. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the dual-mode incremental teleoperation control method as described in any one of claims 1-7.

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