Remote control method and device for mechanical arm

Abstract

The embodiment of the present disclosure provides a kind of mechanical arm remote control method and device, belong to robot technical field.The device includes: universal joint, for receiving operation action to drive mechanical arm end movement operating handle and for connecting mechanical arm mechanical arm connecting piece, the universal joint is connected with the controller and the mechanical arm connecting piece respectively;Universal joint is provided with detection unit, and the detection unit is used to collect mechanical signal when the operating handle and the mechanical arm connecting piece generate relative motion, and the mechanical signal is used to indicate the force and moment between the operating handle and the mechanical arm connecting piece.This device, support operating handle relative to mechanical arm carries out multi-degree-of-freedom motion, and the detection unit of setting on universal joint accurately detects the mechanical signal corresponding to multi-degree-of-freedom motion, improves the flexibility and accuracy of remote control process.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a method and apparatus for remote control of a robotic arm. Background Technology

[0002] In robotic arm teleoperation technology, a control link is formed between the operating handle and the robotic arm through a physical connection. Thus, after external operating input is applied to the operating handle, it is converted into motion control of the robotic arm through the control link, thereby realizing remote operation.

[0003] Currently, to achieve force feedback and operation sensing, a force sensor is installed between the control handle and the end effector of the robotic arm, and connected to both via a rigid connection to sense force signals during operation. However, this rigid coupling structure restricts the degree of freedom of operation, resulting in limited operating angles and reduced control precision. It also easily introduces signal transmission delays and coupling errors, thereby affecting the flexibility and accuracy of the remote control process. Summary of the Invention

[0004] In view of this, the present disclosure provides a method and apparatus for remote control of a robotic arm to at least solve or alleviate the above-mentioned problems.

[0005] According to a first aspect of the present disclosure, a remote control device for a robotic arm is provided, comprising: a universal joint, an operating handle for receiving an operating action to drive the end effector of the robotic arm, and a robotic arm connector for connecting the robotic arm. The universal joint includes a first connector, a second connector, and an intermediate connector. The first connector is connected to the robotic arm connector, the second connector is connected to the operating handle, and the intermediate connector is rotatably connected to both the first connector and the second connector. The universal joint is equipped with a detection unit, which is used to collect mechanical signals when the operating handle and the robotic arm connector generate relative motion. The mechanical signals are used to indicate the force and torque between the operating handle and the robotic arm connector.

[0006] According to a second aspect of the present disclosure, a remote control method for a robotic arm is provided, comprising: Acquire mechanical signals, which are acquired and transmitted by the remote control device of the robotic arm in the first aspect; Motion commands are generated based on the mechanical signals; The robotic arm is driven to move according to the motion command, so that the robotic arm follows the movement of the operating handle.

[0007] According to a third aspect of the present disclosure, a robotic arm remote control system is provided, including a robotic arm and a robotic arm remote control device as described in the first aspect. The robotic arm remote control device is used to collect force signals and send the force signals to the robotic arm. The robotic arm is used to acquire the force signals collected by the robotic arm remote control device, generate motion commands based on the force signals, and drive the robotic arm to move according to the motion commands.

[0008] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, the executable instruction causing the processor to perform the method as described in the second aspect.

[0009] According to a fifth aspect of the present disclosure, a computer-executable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method as described in the second aspect.

[0010] According to a sixth aspect of the present disclosure, a computer program product is provided, which is tangibly stored on a computer-readable medium and includes computer-executable instructions that, when executed, cause at least one processor to perform the method as described in the second aspect.

[0011] Based on the above solution, a universal joint is installed between the operating handle and the robotic arm connector, enabling the operating handle to have multi-degree-of-freedom relative motion capabilities with respect to the robotic arm connector. This transforms the external operation input from a rigid transmission mode to a multi-directional decoupled motion input mode, supporting multi-directional swinging and complex posture changes of the operating handle. Simultaneously, a detection unit is integrated into the universal joint, allowing it to collect mechanical signals during the relative motion between the operating handle and the robotic arm connector, achieving clear perception of external operation input. This effectively improves the control flexibility and accuracy of the robotic arm's teleoperation. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings.

[0013] Figure 1 This disclosure presents a schematic diagram of a remote force control structure for a robotic arm; Figure 2 This is a schematic diagram of the structure of a robotic arm remote control device according to an embodiment of the present disclosure; Figure 3 This is a schematic diagram of the structure of a universal joint according to an embodiment of the present disclosure; Figure 4 This is a schematic diagram of the structure of an intermediate connector according to an embodiment of this disclosure; Figure 5 This is a schematic flowchart of a robotic arm remote control method according to an embodiment of the present disclosure; Figure 6 This is a schematic flowchart of a robotic arm remote control method according to an embodiment of the present disclosure; Figure 7 This is a schematic diagram of an electronic device according to an embodiment of the present disclosure. Detailed Implementation

[0014] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0015] It should be noted that the headings of any section / subsection provided herein are not limiting. Various embodiments are described throughout this document, and embodiments of any type may be included under any section / subsection. Furthermore, embodiments described in any section / subsection may be combined in any way with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0016] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below. The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0017] The embodiments of this disclosure may involve user data, data acquisition, and / or use. All of these aspects comply with applicable laws, regulations, and relevant provisions. In the embodiments of this disclosure, all data collection, acquisition, processing, manipulation, forwarding, and use are conducted with the user's knowledge and confirmation. Accordingly, in implementing the embodiments of this disclosure, the type, scope of use, and usage scenarios of any data or information that may be involved should be communicated to the user and their authorization obtained in accordance with relevant laws and regulations through appropriate means. The specific methods of notification and / or authorization may vary depending on the actual situation and application scenario, and the scope of this disclosure is not limited in this respect.

[0018] In this specification and the embodiments, any processing of personal information will be carried out only under the premise of legality (such as obtaining the consent of the personal information subject, or being necessary for the performance of a contract), and will only be carried out within the scope stipulated or agreed upon. A user's refusal to process personal information beyond what is necessary for basic functions will not affect the user's use of basic functions.

[0019] Remote control technology for robotic arms refers to acquiring the operator's motion information through a human-machine interface device and converting this motion information into control commands for the robotic arm to achieve real-time control of the robotic arm.

[0020] Figure 1 A schematic diagram of a remote force control structure for a robotic arm is shown. Currently, force control of robotic arms is mostly achieved using... Figure 1 The structure shown. (As illustrated) Figure 1 As shown, the structure includes an operating handle A, a six-dimensional force sensor B, and a robotic arm end effector C. The operating handle A is used to input human hand movements. The six-dimensional force sensor B is used to sense force and torque information in three directions during the operation and transmit it to the robotic arm end effector C to achieve force feedback and motion control.

[0021] exist Figure 1 In the structure shown, a six-dimensional force sensor B is positioned between the operating handle A and the end effector C of the robotic arm, and is rigidly connected to the end faces of both in a planar manner. Through this connection, the force state and some posture changes of the operating handle A can be detected by the six-dimensional force sensor B, which generates corresponding motion commands based on the detected force signals to drive the end effector C of the robotic arm to perform corresponding actions.

[0022] However, the aforementioned planar rigid connection-based structure has significant limitations in practical applications. Because the operating handle A and the six-dimensional force sensor B are connected via a rigid end face, it can only effectively transmit axial force and small-range angular deflection information. For complex movements such as large-range omnidirectional swings and multi-degree-of-freedom compound deflections generated during natural human operation, it is difficult to achieve complete and continuous signal transmission, resulting in limited operational freedom and poor human-machine interface adaptability. Furthermore, this structure typically includes multiple rigid force transmission paths. From the operating handle A to the six-dimensional force sensor B and then to the robotic arm end effector C, the signal undergoes multiple mechanical couplings and conversions during transmission, easily introducing transmission delays and dynamic response lags. This, in turn, affects the real-time performance and tracking accuracy of the teleoperation system, reducing overall control performance.

[0023] It is evident that existing robotic arm teleoperation structures suffer from limitations in operational freedom and signal response lag during the transmission of force and pose information, making it difficult to meet the demands for highly flexible and real-time human-machine collaborative control.

[0024] To address the aforementioned problems, this application proposes a remote control device and method for a robotic arm. By improving the connection and signal transmission structure between the remote control handle and the end effector of the robotic arm, the multi-dimensional movements applied by the operator to the control handle can be perceived and analyzed with greater freedom.

[0025] robotic arm remote control device Figure 2 A schematic diagram of the structure of a robotic arm remote control device 1000 according to an embodiment of this disclosure is shown. Figure 2 As shown, the robotic arm remote control device 1000 includes a universal joint 10, an operating handle 20, and a robotic arm connector 30.

[0026] The operating handle 20 is used to receive operating actions to drive the end effector of the robotic arm. It is understood that the operating handle 20 is a human-machine interface input terminal, which can generate a corresponding displacement or rotation response when receiving external operating actions.

[0027] The robotic arm connector 30 is used to connect the robotic arm, with its first end rigidly connected to the end effector of the robotic arm and its second end rigidly connected to the universal joint 10. Exemplarily, the first end of the robotic arm connector 30 may be provided with a flange interface for mating with the flange of the end effector of the robotic arm. It should be understood that the central axis of the robotic arm connector is coaxial with the central axis of the end effector of the robotic arm, so that movement or torque between the robotic arm connector and the end effector of the robotic arm is transmitted along the same axis.

[0028] Universal joint 10 is a mechanical connection structure that connects to both the operating handle 20 and the robotic arm connector 30, supporting multi-degree-of-freedom relative motion between them. For example, by applying a force in a certain direction to the operating handle 20, it can rotate relative to the robotic arm connector 30 around a certain axis. Universal joint 10 can be, for example, a cross-shaped universal joint, a ball-cage universal joint, or a double universal joint.

[0029] A detection unit 1 is provided on the universal joint 10. The detection unit 1 is used to collect mechanical signals when the operating handle 20 and the robotic arm connector 30 generate relative movement. The mechanical signals are used to indicate the force and torque between the operating handle 20 and the robotic arm connector 30.

[0030] For example, the mechanical signals may include torque signals and axial force signals. The torque signal is acquired when the operating handle 20 and the robotic arm connector 30 undergo relative rotation, primarily involving attitude changes, via the universal joint 10. The axial force signal is acquired when the operating handle 20 applies a push-pull force to the robotic arm connector 30 via the universal joint 10. Therefore, the torque signal corresponds to an externally applied operating input that causes the operating handle 20 to rotate relative to the robotic arm connector 30; the axial force signal corresponds to an externally applied operating input that causes the operating handle 20 to exert a force on the robotic arm connector 30.

[0031] In this embodiment, a universal joint 10 is provided between the operating handle 20 and the robotic arm connector 30, enabling the operating handle 20 to have multi-degree-of-freedom relative motion capability with respect to the robotic arm connector 30. This transforms the external operation input from a rigid transmission mode to a multi-directional decoupled motion input mode, supporting multi-directional swinging and complex posture changes of the operating handle 20. Simultaneously, a detection unit is integrated into the universal joint 10, allowing it to collect mechanical signals during the relative motion between the operating handle 20 and the robotic arm connector 30, thus achieving clear perception of external operation input. This effectively improves the control flexibility and accuracy of the robotic arm's remote operation.

[0032] Figure 3 A schematic diagram of the universal joint provided in the embodiments of this disclosure is provided. Figure 3 In the embodiment shown, the universal joint 10 adopts a cross-shaped universal joint structure.

[0033] like Figure 3 As shown, the universal joint 10 may include a first connector 11, a second connector 12, and an intermediate connector 13.

[0034] The first connector 11 is used to connect with the robotic arm connector 30 and is rigidly fixed to the second end of the robotic arm connector 30 to form a stable force transmission base.

[0035] The second connector 12 is used to connect with the operating handle 20 and is rigidly fixed to the end of the operating handle 20 (the end away from the external operating end). For example, the two can be fixed by means of threaded connection or key connection to ensure that the externally applied operating force can be reliably transmitted to the universal joint 10.

[0036] The intermediate connector 13 is the core component of the universal joint 10, and is rotatably connected to the first connector 11 and the second connector 12 respectively, to realize multi-degree-of-freedom relative rotation between the two connected ends. For example, the intermediate connector 13 can be a cross-axis structure, a ball joint structure, or a ball cage structure, etc., to adapt to different rotational degree-of-freedom requirements, so that the operating handle 20 can be tilted in multiple directions relative to the robotic arm connector 30.

[0037] During the remote operation of the robotic arm, when external input is applied to the operating handle 20, the universal joint structure disclosed in the above embodiment can support the operating handle 20 to undergo multi-degree-of-freedom relative motion with respect to the robotic arm connector 30, thereby breaking through the operating angle limitation brought about by the traditional rigid planar connection, enabling the operating handle 20 to achieve posture adjustment in multiple directions, expanding the input range and improving motion adaptability.

[0038] Figure 4 This is a schematic diagram of the structure of the intermediate connector provided in an embodiment of this disclosure. Figure 4 In the embodiment shown, the intermediate connector 13 adopts a cross shaft structure, including a first rotating shaft 131 and a second rotating shaft 132 that are orthogonal to each other, that is, the axes of the first rotating shaft 131 and the second rotating shaft 132 are perpendicular to each other and coplanar.

[0039] Correspondingly, both the first connecting member 11 and the second connecting member 12 are fork-shaped structures with two fork arms, and each fork arm is provided with a shaft hole. The journals at both ends of the first rotating shaft 131 are rotatably supported in the shaft holes of the first connecting member 11, and the journals at both ends of the second rotating shaft 132 are rotatably supported in the shaft holes of the second connecting member 12. Thus, the cross shaft is rotatably engaged with the shaft holes of the first connecting member 11 and the second connecting member 12 through four journals.

[0040] Based on the above structure, the operating handle 20 rotates relative to the first connecting member 11 via the second connecting member 12, around the first rotation axis 131 and the second rotation axis 132, thereby realizing a compound deflection motion in two orthogonal directions, and thus making the operating handle 20 present a multi-degree-of-freedom posture relative to the robotic arm connecting member 30.

[0041] The intermediate connector 13 adopts a cross shaft structure, which has a clear rotation shaft structure and each rotation shaft is independent of the others. This allows for clear motion decoupling, making it easier to detect and decompose the forces and torques during rotation, thereby improving the accuracy of mechanical signal acquisition.

[0042] The detection unit 1 includes a torque detection unit 2 and / or an axial force detection unit 3. For example, the detection unit 1 may include a torque detection unit 2. For example, the detection unit 1 may include an axial force detection unit 3. For example, the detection unit 1 may include a torque detection unit 2 and an axial force detection unit 3.

[0043] In some embodiments, the detection unit 1 may include a torque detection unit 2, used to acquire torque signals when the operating handle 20 and the robotic arm connector 30 generate relative motion. Figure 3 As shown, the torque detection unit 2 is mounted on the intermediate connector 13 of the universal joint 10. This allows the torque detection position to be located in the direct transmission path of the external operation input, thereby enabling direct sensing of the torsional action caused by the external operation input and improving the sensitivity and accuracy of torque detection.

[0044] In one implementation, when the intermediate connector 13 is a cross-shaped structure, a set of torque sensors can be coaxially integrated on each of the two rotating axes of the cross-shaped shaft. Based on this, as... Figure 3 As shown, the torque detection unit 2 may include a first set of torque sensors 21 and a second set of torque sensors 22. The first set of torque sensors 21 and the second set of torque sensors 22 are used to detect torque components in different rotational degrees of freedom directions.

[0045] The first set of torque sensors 21 is disposed at the connection between the first rotating shaft 131 and the first connecting member 11, and is used to collect torque signals generated around the first rotating shaft 131. In one example, the first set of torque sensors 21 includes two miniature strain gauge torque sensors ( Figure 3 As can be seen, one is set on the opposite side (not shown in the figure). Each miniature strain torque sensor has a ring structure, with its inner ring being interference-fitted with a journal of the first rotating shaft 131, and its outer ring being fixedly connected to the inner wall of the corresponding shaft hole of the first connector 11, so as to detect the corresponding torque signal when the first rotating shaft 131 is twisted.

[0046] The second set of torque sensors 22 is disposed at the connection between the second rotating shaft 132 and the second connecting member 12, and is used to collect torque signals generated around the second rotating shaft 132. In one example, the second set of torque sensors 22 also includes two miniature strain gauge torque sensors ( Figure 3 As can be seen, one is set on the opposite side (not shown in the figure). The inner ring of each miniature strain torque sensor is interference-fitted with a journal of the second rotating shaft 132, and the outer ring is fixedly connected to the inner wall of the shaft hole of the second connector 12 to detect the corresponding torque signal when the second rotating shaft 132 is twisted.

[0047] In the above embodiments, the torque sensor is directly integrated into the rotational connection of the cross shaft, so that the deflection torque generated by the external operation input can be sensed in real time during the transmission process, reducing the impact of gaps, deformation or energy loss caused by intermediate transmission links, with the shortest force signal transmission path and a signal response delay of ≤1ms.

[0048] In addition, setting up a set of torque sensors for each of the orthogonal rotation axes is beneficial for separating and detecting torque components in different directions, thereby improving the accuracy and resolvability of torque measurement.

[0049] In some embodiments, the detection unit 1 may include an axial force detection unit 3 for acquiring axial force signals when the operating handle 20 and the robotic arm connector 30 generate relative motion.

[0050] In one implementation, the axial force detection unit 3 can be located at the connection between the first connector 11 and the robotic arm connector 30, and is coaxially mounted with their connecting axis. Thus, the axial force detection unit 3 is located on the main transmission path of the external input force, and can sense the pushing and pulling action along the connecting axis, improving the accuracy and responsiveness of axial force detection.

[0051] The axial force detection unit 3 includes a miniature tensile and compressive sensor for collecting the axial force signal transmitted from the operating handle 20 to the robotic arm connector 30 through the universal joint 10, so as to characterize the push and pull force applied by the external operating input through the operating handle 20.

[0052] In some embodiments, the torque detection unit 1 includes a temperature compensation module to eliminate signal zero-point drift caused by changes in ambient temperature and frictional heat during operation, thereby improving the stability and accuracy of torque detection. In one implementation, each torque sensor in the torque detection unit 1 is equipped with a temperature-compensated strain gauge, which, together with the strain gauge used for torque detection, constitutes a full-bridge measurement circuit. By placing the temperature-compensated strain gauge in a temperature environment similar to or the same as that of the measuring strain gauge, it generates a consistent resistance response to temperature changes, thereby offsetting the temperature effect in the bridge output and controlling the temperature drift coefficient within 0.05% FS / 10℃, ensuring the long-term stability of detection accuracy.

[0053] It should be noted that in practical applications, torque detection units and axial force detection units with different ranges can be adapted according to the load specifications and teleoperation accuracy requirements of the robotic arm. Simultaneously, the upper limit of the universal joint's deflection angle can be adjusted. For example, the deflection angle of the cross-shaft universal joint can be set to ±30°, ±45°, or ±60°, with a maximum extension to ±60°. Exemplarily, the robotic arm teleoperation control device 1000 can be made of high-strength aluminum alloy or stainless steel, ensuring structural rigidity while controlling the overall weight and avoiding additional load burden on the robotic arm's end effector.

[0054] It should be noted that the force signal transmission path in the robotic arm remote control device disclosed in the above embodiments is very short. With the help of high-response-speed miniature torque and pressure sensors, the signal delay can be controlled within 1ms, which greatly improves the remote operation tracking performance. In addition, the construction cost of this device is only 1 / 5 to 1 / 3 of that of an imported six-dimensional force sensor of the same precision, which significantly reduces the procurement and maintenance costs. Moreover, the installation accuracy requirements are much lower than those of a six-dimensional force sensor, and there is no need for strict coaxiality and flatness control, which greatly reduces the difficulty of on-site assembly and debugging.

[0055] robotic arm remote control system This disclosure provides a robotic arm remote control system, which includes a robotic arm and a robotic arm remote control device 1000.

[0056] The remote control device for the robotic arm is used to collect mechanical signals and send them to the robotic arm.

[0057] The robotic arm is used to perform the following actions: acquiring mechanical signals collected by the robotic arm remote control device; generating motion commands based on the mechanical signals; and driving the robotic arm to move according to the motion commands.

[0058] It should be understood that the robotic arm disclosed in this embodiment includes a processor and an actuator. The processor is used to acquire mechanical signals collected by the robotic arm remote control device, generate motion commands based on the mechanical signals, and send the motion commands to the actuator. The actuator is used to drive the robotic arm to move according to the motion commands. For example, the robotic arm includes an end effector; correspondingly, the actuator is used to drive the end effector to move according to the motion commands.

[0059] In this embodiment, signal processing and motion control functions are integrated into the processor on the robotic arm side, which enables on-site processing and rapid response of the acquired mechanical signals, reduces the time delay in signal transmission and processing, and thus improves the real-time performance and stability of remote operation.

[0060] robotic arm remote control method This disclosure provides a remote control method for a robotic arm, which is applied to a robotic arm. Exemplarily, it can be applied to a processor within the robotic arm.

[0061] Figure 5 A flowchart illustrating a method for remote control of a robotic arm is provided. Figure 5 As shown, the remote control method for the robotic arm includes the following steps.

[0062] S510, receives mechanical signals.

[0063] The mechanical signal is collected and transmitted by the robotic arm remote control device 1000 provided in any of the above embodiments. Specifically, the mechanical signal is collected by the detection unit 1 provided in the universal joint 10 when the operating handle 20 and the robotic arm connector 30 move relative to each other.

[0064] For example, the mechanical signals may include torque signals and axial force signals. The torque signal is acquired when the operating handle 20 and the robotic arm connector 30 undergo relative rotation, primarily involving attitude changes, via the universal joint 10. The axial force signal is acquired when the operating handle 20 applies a push-pull force to the robotic arm connector 30 via the universal joint 10. Therefore, the torque signal corresponds to an externally applied operating input that causes the operating handle 20 to rotate relative to the robotic arm connector 30; the axial force signal corresponds to an externally applied operating input that causes the operating handle 20 to exert a force on the robotic arm connector 30.

[0065] For example, the mechanical signals are acquired by the detection unit 1 in the robotic arm remote control device 1000. Among them, the torque signal can be acquired by the torque detection unit 2 in the detection unit 1, and the axial force signal can be acquired by the axial force detection unit 3 in the detection unit 1.

[0066] It should be understood that the signal flow process includes: after the mechanical signal is collected by the remote control device 1000 of the robotic arm, it is sent to the robotic arm, and the processor in the robotic arm processes the received mechanical signal.

[0067] In one implementation, the mechanical signals include: acquiring a first torque signal, a second torque signal, and an axial force signal.

[0068] The first torque signal is acquired by the first set of torque sensors 21 in the torque detection unit 2. It is used to characterize the torsional torque generated around the first rotation axis 131 and to reflect the torque component acting on the first rotation axis 131 when the operating handle 20 rotates relative to the robotic arm connector 30.

[0069] The second torque signal is acquired by the second set of torque sensors 22 in the torque detection unit 2. It is used to characterize the torsional torque generated around the second rotation axis 132 and reflects the torque component acting on the second rotation axis 132 when the operating handle 20 rotates relative to the robotic arm connector 30. Since the first rotation axis 131 and the second rotation axis 132 are perpendicular to each other, the first torque signal and the second torque signal constitute two orthogonal torque signals.

[0070] The axial force signal is acquired by the axial force detection unit 3 and is used to characterize the force exerted by the remote control handle 20 on the robotic arm connector 30 through the universal joint 10.

[0071] In one example, after the robotic arm remote control device 1000 is powered on, the torque detection unit 2 and the axial force detection unit 3 enter the working state, and collect the mechanical signals generated when the operating handle 20 and the robotic arm connector 30 move relative to each other in real time. Exemplarily, the mechanical signals are collected using a preset sampling frequency, such as not less than 1000Hz, to improve the real-time performance and responsiveness of the signal acquisition.

[0072] In one example, the acquired raw electrical signal is preprocessed, including both hardware and software preprocessing.

[0073] During the hardware preprocessing stage, the original electrical signal is filtered by a low-pass filter circuit to eliminate high-frequency noise.

[0074] In the software preprocessing stage, the filtered electrical signal is subjected to signal decoupling, dynamic zero-point calibration and gain adjustment to eliminate the coupling effect between different channels and correct zero-point drift and amplitude deviation, thereby converting the original electrical signal into the corresponding torque signal and / or axial force signal.

[0075] S520 generates motion commands based on mechanical signals.

[0076] In one implementation, a calibration relationship is pre-established between the torque signal, the axial force signal, and the movement speed of the robotic arm; based on this calibration relationship, the pre-processed mechanical signal is converted into motion commands that can be recognized by the robotic arm controller.

[0077] S530: Drive the robotic arm to move according to the motion command so that the robotic arm follows the movement of the operating handle 20.

[0078] The robotic arm's processor sends motion commands to the robotic arm's controller, which then drives the robotic arm to move synchronously with the operating handle 20.

[0079] In this embodiment, when the operating handle 20 undergoes multi-degree-of-freedom relative motion with respect to the robotic arm connector 30 under external input, the detection unit 1, mounted on the universal joint 10, collects the mechanical signals during this process. Since the detection unit 1 is located at the universal joint 10 and within the motion transmission path, it can directly collect the corresponding force and torque information simultaneously with the relative motion, avoiding the need for multi-stage rigid connection transmission and measurement as in traditional structures. Based on this, the collected mechanical signals can directly characterize the actual interaction between the operating handle 20 and the robotic arm connector 30, and can generate motion commands corresponding to the relative motion, enabling the robotic arm to follow the operating handle 20. This effectively reduces information loss and response delay caused by intermediate transmission links, improving the control accuracy and real-time performance during the robotic arm's remote operation.

[0080] In one embodiment, step S520 may include the following steps.

[0081] S521. Based on the torque signal, the first motion data is calculated.

[0082] The first motion data includes data on the translation and rotation of the operating handle 20 in a first direction (such as the X-axis direction) and a second direction (such as the Y-axis direction).

[0083] S522. Based on the axial force signal, the second motion data is calculated.

[0084] The second motion data includes data on the pushing and pulling force of the operating handle in a third direction (such as the Z-axis).

[0085] S523. Generate motion instructions based on the first motion data and the second motion data.

[0086] In one example, a spatial coordinate system corresponding to the universal joint 10 structure is established: the direction of the line where the first rotation axis 131 is located is the X-axis, the direction of the line where the second rotation axis 132 is located is the Y-axis, and the direction of the connection axis between the robotic arm connector 30 and the robotic arm is the Z-axis.

[0087] In this coordinate system, the mechanical signals after filtering, decoupling, and calibration are represented as follows: the first torque signal corresponds to the torque component around the X-axis, the second torque signal corresponds to the torque component around the Y-axis, and the axial force signal corresponds to the force component along the Z-axis.

[0088] Based on the pre-established calibration relationship, the first torque signal, the second torque signal, and the axial force signal are calculated into angular velocity components around the X-axis, linear velocity components along the X-axis, angular velocity components around the Y-axis, linear velocity components along the Y-axis, linear velocity components along the Z-axis, and angular velocity components around the Z-axis. These components are then combined to form a six-dimensional spatial motion command.

[0089] In this embodiment, the structural features of the universal joint 10 are established in correspondence with the spatial coordinate system. The acquired torque and axial force signals are filtered, decoupled, and calibrated to ensure that the mechanical components in different directions can be clearly distinguished and expressed in a unified coordinate system. This allows for the separate calculation of corresponding translational and rotational motion data, which are then further fused to generate six-dimensional spatial motion commands. This method, through precise mapping of multi-source coupled mechanical signals to motion components of each degree of freedom, avoids mutual interference between signals in different directions, improves the accuracy and stability of motion analysis, and enables the generated motion commands to more completely and precisely reflect the spatial motion intent of the operating handle 20. This enhances the multi-degree-of-freedom control capability, motion consistency, and tracking accuracy of the robotic arm's teleoperation.

[0090] In some embodiments, step S530 may include the following steps.

[0091] S531. Verify motion commands based on preset speed thresholds.

[0092] For example, the preset velocity threshold may include a preset linear velocity threshold and a preset angular velocity threshold. In one implementation, each linear velocity component and each angular velocity component in the motion command is parsed to detect whether each linear velocity component in the motion command exceeds the preset linear velocity threshold, and to detect whether each angular velocity component in the motion command exceeds the preset angular velocity threshold.

[0093] For example, the verification process may also include anomaly detection of motion commands. For instance, detecting anomalies such as sudden changes in speed or abnormal jumps in speed direction.

[0094] S532. If the verification is successful, drive the robotic arm to move according to the motion command and acquire the motion signal of the robotic arm. Determine whether to end the remote operation based on the motion signal. If it is determined to continue the remote operation, continue to receive the force signal and perform subsequent operations.

[0095] For example, if each linear velocity in the motion command does not exceed a preset linear velocity threshold and each angular velocity does not exceed a preset angular velocity threshold, and the outlier detection is passed, then the verification is determined to be successful; otherwise, the verification is determined to be unsuccessful.

[0096] After the verification is passed, the robotic arm is controlled to perform the corresponding movement according to the motion command, and the motion signal of the robotic arm is acquired in real time during the movement of the robotic arm.

[0097] The motion signals of the robotic arm can include, for example, motion state signals and force feedback signals. Motion state signals characterize the current operating state of the robotic arm, including information such as its pose, trajectory, acceleration, and direction of motion. Force feedback signals characterize the forces acting on the robotic arm, including information such as the forces acting on the end effector, contact states, and collision states. Determine whether to end remote control based on motion signals.

[0098] For example, motion state signals can be used to determine whether the robotic arm has completed a preset operation task, reached the target position, or is in an abnormal operating state; force feedback signals can also be used to determine whether the robotic arm has an abnormal collision with the external environment, has been subjected to a force exceeding the safety threshold, or has an abnormal contact situation.

[0099] When it is determined to continue the remote operation, continue to receive the mechanical signal and perform subsequent operations, that is, return to the execution steps S510-S530.

[0100] S533. If the verification fails, trigger a fault alarm and end remote operation.

[0101] For example, if any linear velocity exceeds a preset linear velocity threshold, any angular velocity exceeds a preset angular velocity threshold, or the motion command fails the anomaly detection, the motion command verification is determined to have failed. In this case, a fault alarm is triggered, and the robotic arm is stopped to end the current teleoperation process.

[0102] For example, a fault alarm may include at least one or more of the following: audible and visual alarms, interface prompts, or sending alarm messages to the operator.

[0103] In this embodiment, by verifying the motion commands and acquiring motion status signals and force feedback signals in real time during the movement of the robotic arm, a closed-loop control mechanism for motion command execution and operation status feedback is formed. This can not only avoid problems such as loss of control, collision or overload of the robotic arm caused by abnormal commands, but also adjust or terminate the teleoperation process in a timely manner according to the real-time operation status of the robotic arm, thereby improving the safety and timeliness of the teleoperation process.

[0104] In some embodiments, before generating motion commands based on the mechanical signals, the method further includes: preprocessing the mechanical signals; and calibrating and compensating the preprocessed mechanical signals.

[0105] Preprocessing may include hardware preprocessing and software preprocessing. In the hardware preprocessing stage, the original electrical signal is filtered using a low-pass filter circuit to eliminate high-frequency noise. In the software preprocessing stage, the filtered electrical signal undergoes signal decoupling, dynamic zero-point calibration, and gain adjustment to eliminate coupling effects between different channels and correct zero-point drift and amplitude deviation, thereby converting the original electrical signal into a corresponding torque signal and / or axial force signal.

[0106] Calibration and compensation may include proportional correction, cross-coupling compensation, or temperature drift compensation of signals in each direction based on sensor characteristics and installation errors, in order to improve signal accuracy.

[0107] In this embodiment, preprocessing, calibrating, and compensating the mechanical signal can improve the accuracy and stability of the mechanical signal, reduce the impact of noise interference and measurement errors on motion control, and thus improve the accuracy of motion command generation.

[0108] Figure 6 A flowchart illustrating a method for remote control of a robotic arm is provided. It should be understood that... Figure 6 Can be seen as Figure 5 A specific example of the illustrated embodiment. For example... Figure 6 As shown, the remote control method for a robotic arm may include the following steps.

[0109] S1. Start remote operation. Power on the robotic arm remote control system.

[0110] Power is supplied to the detection unit 1 in the robotic arm remote control device 1000, and to the processor, actuator and other modules in the robotic arm.

[0111] S2. Initialize the system and calibrate each detection unit.

[0112] For example, zero-point calibration is performed on the torque sensor in torque detection unit 2 and the pressure sensor in axial force detection unit 3 to eliminate initial bias error.

[0113] S3. Synchronously acquire the first torque signal, the second torque signal, and the axial force signal.

[0114] S4. Preprocess the acquired mechanical signals.

[0115] For example, it may include hardware preprocessing and software preprocessing. For specific processing methods, please refer to the previous text, which will not be repeated here.

[0116] S5. Calibrate and compensate the preprocessed mechanical signal.

[0117] For example, based on sensor characteristics and installation errors, proportional correction, cross-coupling compensation, or temperature drift compensation can be applied to signals in each direction to improve signal accuracy.

[0118] S6. Based on the processed mechanical signals, solve the six-dimensional spatial motion commands.

[0119] For example, by combining preset calibration relationships, the force and torque components in each direction are mapped to the corresponding linear velocity and angular velocity components, and combined to form a complete six-dimensional motion control command.

[0120] S7. Perform validity and safety threshold checks on six-dimensional motion commands.

[0121] For example, upper limit thresholds are set for each linear velocity component and angular velocity component, and it is determined whether each linear velocity component in the six-dimensional space motion command exceeds the preset linear velocity threshold, and whether each angular velocity component in the six-dimensional space motion command exceeds the preset angular velocity threshold.

[0122] For example, outlier detection is performed on each linear velocity component and angular velocity component.

[0123] If the verification fails, proceed to step S8.

[0124] If the verification passes, proceed to step S9.

[0125] S8. Trigger a fault alarm and execute an emergency stop.

[0126] S9. Send the verified six-dimensional motion command to the controller of the robotic arm.

[0127] S10. The controller of the robotic arm responds to the six-dimensional space motion command and drives the end of the robotic arm to perform the corresponding operation action, thereby realizing the tracking of the movement of the operating handle 20.

[0128] S11. Acquire the motion state and force feedback signal of the robotic arm end effector to monitor the system's operating status.

[0129] S12. Determine whether to end the teleoperation.

[0130] For example, when the motion state of the robotic arm end is detected to meet the preset stopping conditions and / or the force feedback signal of the robotic arm end is stable within the preset range, the teleoperation is determined to end.

[0131] If yes, proceed to step S13. If no, return to step S3.

[0132] S13. End remote operation, system shutdown, control process completed.

[0133] In this embodiment of the disclosure, a process is provided to perform safety verification on the generated six-dimensional spatial motion commands, which can effectively avoid the impact of abnormal commands on the system; at the same time, the execution status of the robotic arm end effector is monitored to achieve real-time feedback and status evaluation of the control process, thereby improving the safety, stability and control accuracy of the teleoperation process.

[0134] electronic devices Figure 7 This is a schematic diagram of an electronic device provided in an embodiment of this disclosure. The specific embodiments of this disclosure do not limit the specific implementation of the electronic device. See also... Figure 7 The electronic device 700 provided in this embodiment includes: a processor 702, a communications interface 404, a memory 706, and a bus 708. Wherein: The processor 702, communication interface 704, and memory 706 communicate with each other via bus 708.

[0135] Communication interface 704 is used to communicate with other electronic devices or servers.

[0136] The processor 702 is used to execute program 710, which can specifically perform the relevant steps in the above-described anomaly detection method embodiment.

[0137] Specifically, program 710 may include program code that includes computer operation instructions.

[0138] The processor 702 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure. The smart device may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0139] Memory 706 is used to store program 710. Memory 706 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0140] Specifically, program 710 can be used to cause processor 702 to execute the robotic arm remote control method in any of the foregoing embodiments.

[0141] The specific implementation of each step in program 710 can be found in the corresponding steps and units described in the above-described anomaly detection method embodiments, and will not be repeated here. Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the devices and modules described above can be referred to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.

[0142] The electronic device in this embodiment processes the received mechanical signals to generate corresponding motion commands, and drives the robotic arm to move synchronously with the operating handle according to the motion commands. The generated motion commands can more completely and accurately reflect the spatial motion intention of the operating handle, thereby improving the multi-degree-of-freedom control capability, motion consistency and following accuracy of the robotic arm's remote operation.

[0143] Computer-readable storage media This disclosure also provides a computer-readable storage medium storing instructions for causing a machine to perform the robotic arm teleoperation control method described herein. Specifically, a system or apparatus equipped with a storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling the computer (or CPU or MPU) of the system or apparatus to read and execute the program code stored in the storage medium.

[0144] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute a part of this disclosure.

[0145] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0146] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0147] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0148] Computer program products This disclosure also provides a computer program product tangibly stored on a computer-readable medium and including computer-executable instructions, which, when executed, cause at least one processor to perform the robotic arm telescopic control methods provided in the above embodiments. It should be understood that the solutions in this embodiment have the corresponding technical effects in the above method embodiments, and will not be repeated here.

[0149] It should be understood that the various embodiments in this description are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the method embodiments, since they are basically similar to the methods described in the apparatus and system embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions of other embodiments.

[0150] It should be understood that the foregoing describes specific embodiments of this specification. Other embodiments are within the scope of the claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0151] It should be understood that the use of a singular form to describe an element or to show only one element in the accompanying drawings does not imply that the number of such element is limited to one. Furthermore, modules or elements described or shown as separate herein may be combined into a single module or element, and modules or elements described or shown as single herein may be broken down into multiple modules or elements.

[0152] It should also be understood that the terminology and expressions used herein are for descriptive purposes only, and one or more embodiments described herein should not be limited to these terms and expressions. The use of these terms and expressions does not exclude any illustrative and descriptive equivalent features (or parts thereof), and it should be recognized that various modifications that may exist should also be included within the scope of the claims. Other modifications, variations, and substitutions may also exist. Accordingly, the claims should be considered to cover all such equivalents.

Claims

1. A remote control device for a robotic arm, characterized in that, include: A universal joint, an operating handle for receiving operating actions to drive the end effector of a robotic arm, and a robotic arm connector for connecting the robotic arm, the universal joint including a first connector, a second connector, and an intermediate connector, the first connector being connected to the robotic arm connector, the second connector being connected to the operating handle, and the intermediate connector being rotatably connected to the first connector and the second connector respectively. The universal joint is equipped with a detection unit, which is used to collect mechanical signals when the operating handle and the robotic arm connector generate relative motion. The mechanical signals are used to indicate the force and torque between the operating handle and the robotic arm connector.

2. The apparatus according to claim 1, characterized in that, The detection unit includes a torque detection unit and / or an axial force detection unit; The torque detection unit is disposed on the intermediate connector and is used to collect torque signals when the operating handle and the robotic arm connector generate relative motion. The axial force detection unit is located at the connection between the first connector and the robotic arm connector, and is used to collect axial force signals when the operating handle and the robotic arm connector move relative to each other.

3. The apparatus according to claim 2, characterized in that, The intermediate connecting member includes a first rotating shaft and a second rotating shaft that are orthogonal to each other. The journals at both ends of the first rotating shaft are rotatably supported in the shaft holes of the first connecting member, and the journals at both ends of the second rotating shaft are rotatably supported in the shaft holes of the second connecting member.

4. The apparatus according to claim 3, characterized in that, The torque detection unit includes a first set of torque sensors and a second set of torque sensors. The first set of torque sensors is located at the connection between the first rotating shaft and the first connecting member, and is used to collect the torque signal generated when the operating handle moves around the first rotating shaft. The second set of torque sensors is located at the connection between the second rotating shaft and the second connecting member, and is used to collect the torque signal generated when the operating handle moves around the second rotating shaft.

5. The apparatus according to claim 4, characterized in that, In the first group of torque sensors, the inner ring of each torque sensor is interference-fitted with the journal of the first rotating shaft, and the outer ring of each torque sensor in the first group of torque sensors is fixedly connected to the inner wall of the shaft hole of the first connector.

6. The apparatus according to any one of claims 2 to 5, characterized in that, The axial force detection unit includes a pressure sensor.

7. A method for remote control of a robotic arm, characterized in that, include: Receives mechanical signals, which are acquired and transmitted by the robotic arm remote control device according to any one of claims 1 to 6; Motion commands are generated based on the mechanical signals; The robotic arm is driven to move according to the motion command, so that the robotic arm follows the movement of the operating handle.

8. The method according to claim 7, characterized in that, The step of driving the robotic arm to move according to the motion command includes: The motion command is verified based on a preset speed threshold; If the verification is successful, the robotic arm is driven to move according to the motion command, and the motion signal of the robotic arm is acquired. The motion signal is used to determine whether to end the teleoperation. If it is determined to continue the teleoperation, the receiving of the mechanical signal and subsequent operations are continued. If the verification fails, a fault alarm is triggered and the remote operation is terminated.

9. The method according to claim 7, characterized in that, Before generating motion commands based on the mechanical signals, the method further includes: The mechanical signals are preprocessed; The preprocessed mechanical signal is calibrated and compensated.

10. The method according to any one of claims 7 to 9, characterized in that, The mechanical signals include torque signals and axial force signals, and the generation of motion commands based on the mechanical signals includes: Based on the torque signal, the first motion data is calculated, which includes the translation and rotation data of the operating handle in the first and second directions; Based on the axial force signal, the second motion data is calculated, and the second motion data includes the data of the pushing and pulling force of the operating handle in the third direction; The motion command is generated based on the first motion data and the second motion data.

Images