Robotic teleoperation system

Abstract

The application provides a robot remote control system, comprising: a humanoid robot, comprising a chassis, a trunk, a first mechanical arm and an end effector; a remote control device, comprising a support, a second mechanical arm and an end handle, wherein the joint configuration of the second mechanical arm is the same as that of the first mechanical arm; the remote control device is in communication connection with the humanoid robot, and is used for: receiving a first operation on the second mechanical arm and a second operation on the end handle, and generating a first control instruction and a second control instruction according to the first operation and the second operation, wherein the first control instruction is used for controlling the first mechanical arm to move, and the second control instruction is used for controlling the end effector to move; and the humanoid robot is used for: in response to the first control instruction, controlling the first mechanical arm to perform the same action as the second mechanical arm, and in response to the second control instruction, controlling the end effector to perform an opening / closing operation.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a robot remote control system. Background Technology

[0002] With the continuous development of robotics technology, humanoid robots are increasingly widely used in industries such as manufacturing, healthcare, and services. Remote control systems, as an important means of remotely controlling robot operation, can translate user intentions into precise control commands for humanoid robots to complete complex tasks.

[0003] In related technologies, remote control devices often use motion capture systems such as inertial motion capture systems and optical motion capture systems to acquire human motion postures and map them onto the robot to achieve remote operation.

[0004] The aforementioned motion capture-based remote control solutions suffer from high costs, complex equipment, and strong dependence on specific locations. Furthermore, due to the structural differences between humans and robots, the motion capture system requires further mapping processing after collecting human motion data, leading to significant control challenges. In addition, motion capture equipment requires a large activity area when controlling humanoid robot movement, which also limits the application of motion capture remote control. Utility Model Content

[0005] This application mainly provides a robot telecontrol system, including: a humanoid robot, comprising a chassis, a torso, a first robotic arm, and an end effector, wherein the torso is connected to the chassis, the first robotic arm is connected to the torso, and the end effector is disposed at the end of the first robotic arm away from the torso; a telecontrol device, comprising a support, a second robotic arm, and an end handle, wherein the second robotic arm is mounted on the support, the joint configuration of the second robotic arm is the same as that of the first robotic arm, and the end handle is disposed at the end of the second robotic arm away from the support; the telecontrol device is communicatively connected to the humanoid robot and is used to: receive a first operation on the second robotic arm and a second operation on the end handle, and generate a first control command and a second control command based on the first operation and the second operation, wherein the first control command is used to control the movement of the first robotic arm, and the second control command is used to control the movement of the end effector; the humanoid robot is used to: in response to the first control command, control the first robotic arm to perform the same action as the second robotic arm, and in response to the second control command, control the end effector to perform an opening / closing operation.

[0006] Based on the aforementioned technical means, by maintaining the same configuration of the second robotic arm in the remote control device as the first robotic arm of the humanoid robot, and using an end effector handle to control the operation of the end effector, users can intuitively remotely operate the robot. Because the joint configurations are identical, a one-to-one mapping control can be achieved, reducing operational complexity, improving operational accuracy and real-time performance, thereby enhancing the overall control experience and task completion efficiency.

[0007] In some embodiments, the humanoid robot further includes a drive unit connected to the chassis for driving the humanoid robot to move; the remote control device is further configured to: receive a third operation on the end effector, and generate a third control command based on the third operation, the third control command being used to control the movement of the drive unit; the humanoid robot is further configured to: control the movement of the drive unit in response to the third control command, so as to move the humanoid robot.

[0008] Based on the aforementioned technical means, by adding control functions to the robot chassis on the end effector, direct operation of the humanoid robot's overall movement is achieved. This design simplifies the user's multi-channel control needs, improves the convenience and consistency of operation, and enhances the robot's maneuverability in complex environments.

[0009] In some embodiments, the humanoid robot further includes a lifting device disposed between the chassis and the torso for driving the torso to rise and fall relative to the chassis; the remote control device is further configured to: receive a fourth operation on the end effector, and generate a fourth control command based on the fourth operation, the fourth control command being used to control the movement of the lifting device; the humanoid robot is further configured to: control the movement of the lifting device in response to the fourth control command, so that the torso rises or falls relative to the chassis.

[0010] Based on the aforementioned technical means, the control function for torso height adjustment is integrated into the end effector handle, further expanding the control dimensions of the remote control system. Through unified handle operation, users can flexibly control changes in torso height to adapt to different work scenarios, improving the robot's flexibility and applicability in practical applications.

[0011] In some embodiments, the number of joints in the first robotic arm is the same as the number of joints in the second robotic arm, and the mounting angle of the second robotic arm on the support is the same as the mounting angle of the first robotic arm on the torso.

[0012] By maintaining consistency in the number and installation angle of the robotic arm joints, the synchronization and coordination of the joint movements during remote operation are ensured, avoiding control errors caused by structural differences, thereby improving the accuracy and stability of the operation.

[0013] In some embodiments, the remote control device further includes a wearable structure detachably connected to the support member to allow the remote control device to be worn on the chest or back of a remote operator or remote robot via the wearable structure.

[0014] Based on the aforementioned technical means, by introducing a wearable structure, users can freely operate remote control devices while walking or standing, enhancing ease of use and expanding application scenarios. For example, in environments requiring frequent movement, users can complete remote operations without a fixed position.

[0015] In some embodiments, the remote control device further includes a support unit, which is detachably connected to the support member for supporting the support member on the ground.

[0016] Based on the above technical means, by configuring a detachable support unit, a stable operating platform is provided for users, which is suitable for long-term or high-precision remote operation tasks. At the same time, it facilitates the rapid deployment and storage of equipment, improving the overall efficiency of use.

[0017] In some embodiments, the end of the support unit near the support member can move in a direction perpendicular to the ground to adjust the height of the support member from the ground.

[0018] Based on the above-mentioned technical means, the adjustable height support unit can meet the operating needs of users of different heights, improve ergonomic comfort, and enhance the versatility and adaptability of the equipment.

[0019] In some embodiments, the support unit further includes a lifting drive unit for adjusting the height of the support unit according to the height of the remote operator or remote robot, so that the height of the support member from the ground matches the height of the remote operator or remote robot.

[0020] Based on the aforementioned technical means, personalized adaptation can be achieved through an automated adjustment mechanism, reducing manual adjustment steps, improving operational efficiency and user experience, and is especially suitable for multi-user shared use scenarios.

[0021] In some embodiments, the remote control device further includes: a sensor for collecting motion information of a first number of joints in the second robotic arm; and a processor for determining the first control command based on the mapping relationship between the first number of joints in the first robotic arm and the first number of joints in the second robotic arm, and the motion information of the first number of joints in the second robotic arm; the first control command includes motion control commands for each of the first number of joints in the first robotic arm.

[0022] Based on the aforementioned technical means, the motion information of the second robotic arm can be accurately collected and processed through built-in sensors and mapping algorithms, thereby generating precise control commands, ensuring the motion reproduction of the first robotic arm, and improving the response speed and control accuracy of the remote control system.

[0023] In some embodiments, the number of both the first robotic arm and the second robotic arm is at least two.

[0024] Based on the aforementioned technical means, the design of dual robotic arms enables support for collaborative operation of the robot's two arms, thereby enhancing its task execution capabilities. Attached Figure Description

[0025] Figure 1 A schematic structural diagram of the remote control system provided in the embodiments of this application;

[0026] Figure 2 for Figure 1 A partial structural diagram of the remote control device in the diagram;

[0027] Figure 3 This is a partial structural diagram of the end effector handle in a remote control device;

[0028] Figure 4 A partial structural schematic diagram of a remote control device in a remote control system provided in an embodiment of this application;

[0029] Figure 5 A partial structural schematic diagram of the remote control device in a remote control system provided in another embodiment of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0032] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0034] With the continuous development of robotics technology, humanoid robots are increasingly widely used in industries such as manufacturing, healthcare, and services. Remote control systems, as an important means of remotely controlling robot operation, can translate user intentions into precise control commands for humanoid robots to complete complex tasks.

[0035] In related technologies, teleoperation devices often use motion capture systems to acquire human motion postures and map them onto robots to achieve remote operation.

[0036] The aforementioned motion capture systems include inertial motion capture systems and optical motion capture systems.

[0037] The inertial motion capture system involves attaching inertial sensors, such as accelerometers and gyroscopes, to the limbs, torso, and key joints of the human body. During human movement, the inertial sensors can collect data such as velocity, acceleration, angular velocity, and angular acceleration of various parts of the body in real time.

[0038] It is understandable that the degrees of freedom, range of motion, and actuation methods of human joints (such as shoulder and wrist joints) and robot joints may be completely different. For example, robot joints can rotate at large angles, while human joints are limited by physiological structure. Therefore, after determining the above-mentioned human motion model, it is also necessary to map and process the data collected by the above-mentioned multiple sensor modules according to the different configurations of humanoid robots and human structures.

[0039] This mapping process is a non-linear process that requires converting the collected human body data into robot control commands through inverse kinematics algorithms and mapping functions. This non-linear mapping may lead to problems such as motion distortion or loss of control.

[0040] Optical motion capture systems are based on the principles of computer vision. By setting markers at key parts of the human body and using cameras to capture images of these markers from different angles, the three-dimensional spatial coordinates of each marker are determined from the acquired images, and the motion parameters of each part are reconstructed accordingly.

[0041] Optical motion capture systems can control humanoid robots by precisely locating marker points, but several problems remain. Specifically, optical motion capture relies on cameras to capture the position of marker points; environmental factors such as strong light, backlighting, or insufficient lighting can lead to misidentification of marker points. Furthermore, when marker points are obstructed by the operator's limbs, the optical camera will fail to capture complete data, resulting in interrupted or distorted motion signals. In addition, optical motion capture systems typically require multiple cameras, demanding significant space and installation precision, thus increasing the overall system cost. Similar to the aforementioned inertial motion capture systems, optical motion capture systems also suffer from the problem of heterogeneous joints between the human and robot.

[0042] In summary, motion capture-based remote control solutions suffer from high costs, complex equipment, and strong dependence on specific locations. Furthermore, due to the structural differences between humans and robots, motion capture systems require further mapping processing after collecting human motion data, leading to significant control challenges. Additionally, motion capture equipment requires a large workspace to control humanoid robot movement, further limiting the application of motion capture remote control.

[0043] This application provides a robot telecontrol system that uses a telecontrol device isomorphic to that of a humanoid robot, including a robotic arm and an end effector with identical structure. Users can achieve precise control over the robot's joint movements and chassis movement through intuitive operation. This system achieves a one-to-one mapping of movements by maintaining the same joint configuration and installation angle between the second robotic arm of the telecontrol device and the first robotic arm of the humanoid robot; and by controlling the robot's chassis movement, lifting, and other functions through the end effector, it significantly reduces the complexity of telecontrol.

[0044] Figure 1 This is a schematic structural diagram of the robot remote control system provided in the embodiments of this application. Figure 2 A partial structural diagram of the remote control device in the remote control system is shown.

[0045] Figure 1 The remote control system 100 includes a humanoid robot 110 and a remote control device 120.

[0046] See Figure 1 The humanoid robot 110 includes a chassis 111, a torso 112, a first robotic arm 113, and an end effector 114.

[0047] The chassis 111 is the support unit of the humanoid robot 110. Its role in the robot is equivalent to the lower limbs of the human body, which is used to realize the movement and turning functions of the humanoid robot 110.

[0048] The torso 112 is the main structure connecting the chassis and the robotic arm, and it carries the controller and power supply and other core components in the humanoid robot 110. Its function is equivalent to the torso of a human body.

[0049] The first robotic arm 113 is connected to the torso 112, and the end effector is located at the end of the first robotic arm 113 away from the torso 112.

[0050] The first robotic arm 113 includes multiple joints, including rotary joints and swing joints (such as shoulder joints, elbow joints, and wrist joints). These joints are combined in series and / or parallel to form a robotic arm configuration to simulate the structure of a human arm. Each of these joints can be driven by a motor to achieve rotation at different angles.

[0051] The end effector 114 is the direct operating component at the end of the first robotic arm 113, equivalent to a human hand or tool, and its function is to perform actions such as grasping and interaction according to task requirements.

[0052] This application does not limit the structural form of the end effector 114. The end effector 114 can be, for example, a two-finger gripper, a multi-finger dexterous hand, a magnetic chuck, a vacuum chuck, etc.; alternatively, the end effector can also be a tool-type actuator, such as a screwdriver, welding torch, or laser cutting head. In practical applications, a suitable end effector can be selected based on the specific usage scenario.

[0053] See Figure 1 and Figure 2 The remote control device 120 includes a support 121, a second robotic arm 122, and an end handle 123.

[0054] The support member 121 plays a supporting and fixing role in the remote control device 120. The support member 121 can be a fixed support member or a movable support member. This application embodiment does not limit this.

[0055] The second robotic arm 122 is fixed on the support member 121 and serves as an input device for the remote control device 120. The joint configuration of the second robotic arm 122 is consistent with that of the first robotic arm 113.

[0056] It should be understood that the consistent configuration mentioned in the embodiments of this application includes: the structure, number of joints, degree of freedom distribution, range of motion and connection method of the second robotic arm 122 and the first robotic arm 113 are completely the same, thereby ensuring that the two robotic arms have geometric symmetry and kinematic consistency in motion.

[0057] More specifically, the joint types, number of joints, and joint distribution of the first robotic arm 113 and the second robotic arm 122 are consistent, and the joint function definitions are also consistent. For example, if the shoulder joint of the first robotic arm 113 has 3 degrees of freedom (pitch, roll, yaw), then the corresponding joint of the second robotic arm 122 must also have 3 degrees of freedom, and the motion directions of each degree of freedom (such as rotation around the X / Y / Z axes) are completely aligned.

[0058] Consistent joint distribution means that the physical positions and connection order of each joint on the robotic arm are consistent. For example, for the first robotic arm 113, from the torso 112 to the end, the joints are arranged in sequence as follows: first shoulder joint 1131, first elbow joint 1132, and first wrist joint 1133. Similarly, for the second robotic arm 122, from the support member 121 to the end, the joints are arranged in sequence as follows: second shoulder joint 1221, second elbow joint 1222, and second wrist joint 1223.

[0059] It is also understandable that the spacing between joints of the same type in the first robotic arm 113 and the second robotic arm 122 can be the same or different. Take the upper arm between the shoulder joint and the elbow joint, and the forearm between the elbow joint and the wrist joint as examples.

[0060] The length of the first upper arm 1134 in the first robotic arm 113 can be the same as the length of the second upper arm 1224 in the second robotic arm 122. In this case, to ensure consistent configuration, the length of the first lower arm 1135 must be consistent with the length of the second lower arm 1225, that is, the first robotic arm 113 and the second robotic arm 122 form a congruent structure.

[0061] As another implementation, the structures of the first robotic arm 113 and the second robotic arm 122 can be similar, that is, the second robotic arm 122 is obtained by proportionally scaling down the first robotic arm 113. More specifically, the length of the second upper arm 1224 can be shorter than that of the first upper arm 1134, and the corresponding length of the second lower arm 1225 should also be shorter than that of the first lower arm 1135, and the ratio of the length of the first upper arm 1134 to the length of the second upper arm 1224 is equal to the ratio of the length of the first lower arm 1135 to the length of the second lower arm 1225.

[0062] The isomorphism between the first robotic arm 113 and the second robotic arm 122 also includes complete matching of degrees of freedom, meaning that the number of degrees of freedom is the same and the range of motion of each degree of freedom is consistent. For example, if the first robotic arm 113 has 6 degrees of freedom, the second robotic arm must also have 6 degrees of freedom, thereby ensuring that the movement of each joint can be independently controlled and mapped. Consistent range of motion for each degree of freedom means that the maximum and minimum rotation angles of each joint are the same (e.g., the pitch range of the shoulder joint is -90° to 90°), avoiding the inability to execute teleoperation commands due to hardware limitations.

[0063] The end effector 123 is another component in the remote control device 120 that directly interacts with the user. The end effector 123 is equipped with mechanisms such as knobs, buttons or triggers. The user controls the end effector 114 on the first robotic arm 113 by rotating the knob, pressing the button or trigger.

[0064] For example, when the end effector 114 is a gripper mechanism, the closing of the gripper can be controlled by pressing the button on the end handle 123; or, for example, when the end effector 114 is a tool such as an electric wrench, the working head can be switched by turning the knob to adapt to different work tasks.

[0065] The remote control device 120 is communicatively connected to the humanoid robot 110. In the technical solution of this application embodiment, the communication connection should possess high reliability and low latency characteristics. This application embodiment does not limit the specific form of the communication connection; the communication connection can be a wired connection, a wireless connection, or a hybrid wired and wireless connection.

[0066] Wired connections can be achieved through Ethernet or dedicated buses. Ethernet, based on TCP / IP or UDP protocols, offers high bandwidth and stability. Dedicated buses, such as CAN buses, provide strong real-time performance, reliability, and interference resistance, making them suitable for real-time control. Wireless communication methods include WiFi, Bluetooth, and 5G. WiFi and Bluetooth offer flexible networking and lower deployment costs, while 5G boasts high transmission rates and low latency, making it suitable for remote control scenarios. In practical applications, the appropriate communication connection method can be selected based on the actual site conditions and requirements for communication speed, latency, and cost.

[0067] The remote control device 120 is used to receive a first operation on the second robotic arm 122 and a second operation on the end effector 123, and generates a first control command and a second control command based on the first and second operations. The first control command is used to control the movement of the first robotic arm 113, and the second control command is used to control the movement of the end effector 114.

[0068] The first and second operations mentioned above can be operations performed by a user of the remote control device (hereinafter referred to as "user"). It should also be noted that in this embodiment, the user can be a remote operator or a remote robot. That is, remote operation in the technical solution of this embodiment can refer to a remote operator or other robot remotely operating a humanoid robot through a remote control device. The above technical solution will be further explained below in conjunction with the working process of the remote control system. Taking the user controlling the first robotic arm 113 to perform a grasping task through the remote control system as an example, when the remote control system is running, the user holds and moves the end handle 123. During the movement, the user drags the joints of the second robotic arm 122, causing them to rotate or move. The operation of the user dragging the joints of the second robotic arm described above is the first operation on the second robotic arm 122.

[0069] For example, when the user rotates the elbow joint 1222 of the second robotic arm 122, the operation will be collected and converted into a change in the rotation angle of the corresponding joint of the first robotic arm 113. The aforementioned first control command is to control the elbow joint 1132 of the first robotic arm 113 to rotate by the same angle.

[0070] When the end effector 114 of the first robotic arm 113 moves to the working position, the user can perform a second operation on the end handle 123, such as pressing a button on the end handle 123. At this time, the remote control device 120 can generate a second control command based on the second operation to cause the end effector 114 to perform corresponding grasping or other operations.

[0071] In other words, the first control command is generated by mapping the angle data of each joint of the second robotic arm 122, ensuring that the first robotic arm 113 can move synchronously with the second robotic arm 122. The second control command is determined by the input signals from the end effector 123, such as button status and joystick position. These signals are converted into corresponding execution commands, such as gripper closing, gripper opening, and chassis forward movement. Because the joint configurations of the first robotic arm 113 and the second robotic arm 122 are identical, one-to-one precise control can be achieved, improving the intuitiveness and accuracy of operation.

[0072] After generating the first and second control commands, the remote control device 120 communicates with the humanoid robot 110 to generate the first and second control commands, so that the humanoid robot 110 can respond to the first control command to control the first robotic arm 113 to perform the same action as the second robotic arm 122, and respond to the second control command to control the end effector 114 to perform opening / closing operations.

[0073] The robot remote control method provided in this application uses a small robotic arm and end effector that are consistent with the robot's configuration, enabling efficient, intuitive, and flexible remote operation of the humanoid robot.

[0074] In some embodiments, the humanoid robot 110 further includes a drive unit 115 connected to the chassis 111 for driving the humanoid robot 110 to move.

[0075] The drive unit 115 can output power after receiving a control signal, enabling the humanoid robot 110 to perform functions such as forward movement, backward movement, and left and right turning. The drive unit 115 can be composed of a motor, a reducer, and drive wheels or drive tracks. The power output by the drive motor is transmitted to the drive wheels or drive tracks through the reducer, causing the drive wheels to rotate or the drive tracks to move, thereby driving the entire robot to move.

[0076] The remote control device 120 is also used to: receive a third operation on the end handle 123, and generate a third control command based on the third operation.

[0077] The third operation can be an interactive command input by the user via the end effector 123 to control the robot's movement. Figure 3 Taking the end handle 123 shown as an example, the end handle 123 is provided with a first rocker arm 1231 that can swing in all directions. The third operation mentioned above can be a flicking operation of the first rocker arm 1231. When the user flicks the first rocker arm 1231 to the left, the operation can be interpreted as a left turn command. Similarly, flicking it forward corresponds to a forward command.

[0078] Understandable, Figure 3 The form of the end handle 123 shown is only an example. In practical applications, the third operation can also be the operation of the button or trigger on the end handle 123. This application embodiment does not specifically limit this. The specific form of the third operation depends on the hardware design and software mapping logic of the end handle 123.

[0079] The humanoid robot 110 is also used to control the drive unit 115 to move in response to a third control command, so as to move the humanoid robot 110.

[0080] The aforementioned third control command is a control signal generated based on a third operation input by the user, used to control the operation of the drive device 115. This command may include the target speed, acceleration, and target direction of the driving motion. After receiving the third control command, the humanoid robot 110 controls the drive device 115 to execute the corresponding operation.

[0081] In this embodiment, by introducing a drive device and its control logic into the robot architecture, and utilizing the end handle 123 in the remote control device 120, the chassis of the humanoid robot 110 is made flexible.

[0082] In some embodiments, continue reading Figure 2 The humanoid robot 110 also includes a lifting device 116, which is located between the chassis 111 and the torso 112 and is used to drive the torso 112 to rise and fall relative to the chassis 111.

[0083] Understandably, in the humanoid robot 110, the first robotic arm 113 is connected to the torso 112. By adjusting the height of the torso 112, the height positions of the torso 112 and the first robotic arm 113 relative to the chassis 111 can be adjusted. This allows the humanoid robot 110 to adjust the positions of the torso 112 and the first robotic arm 113 according to task requirements, adapting to height changes in different working environments and improving grasping accuracy.

[0084] The aforementioned lifting device 116 can be composed of a moving push rod, a hydraulic cylinder, a gear and rack mechanism, or a linkage mechanism. Taking an electric push rod as an example, it uses a servo motor to drive a lead screw and nut pair, converting rotational motion into linear motion, thereby moving the torso 112 up and down. This structure is simple and reliable, and suitable for long-term continuous operation.

[0085] The remote control device 120 is also used to receive a fourth operation on the end handle 123 and to generate a fourth control command based on the fourth operation. The fourth control command is used to control the movement of the lifting device 116.

[0086] The humanoid robot 110 is also used to: control the movement of the lifting device in response to a fourth control command, so that the torso 112 rises or falls relative to the chassis 111.

[0087] The fourth operation refers to the interactive behavior triggered by the user through specific buttons or joysticks on the end effector 123, used to send control intentions regarding the lifting device to the robot. This operation can take various forms, such as short press, long press, and swipe, each corresponding to different control logic. A short press indicates raising, a long press indicates lowering, and a swipe can be used to set a specific lifting range. In this way, the user can intuitively control the lifting and lowering movements of the robot's torso.

[0088] For example, in Figure 3 The end handle 123 shown can be used to control the robot's raising and lowering by using the trigger buttons 1232 and 1233 on the left and right sides. When the user presses the left trigger button 1232, it is recognized as a command to raise the torso. When the user presses the right trigger button 1233, it is recognized as a command to lower the torso.

[0089] When the user performs the fourth operation, the operation signal is processed and converted into a corresponding fourth control command. This control command is sent to the humanoid robot 110. After receiving the fourth control command, the humanoid robot 110 parses the command content and sends it to the drive unit of the lifting device. The drive unit activates the lifting device according to the command parameters, causing the torso 112 to rise and fall along a predetermined path and speed. During the rising and falling process, the system monitors the position and status of the lifting device in real time and adjusts it through a closed-loop feedback mechanism to ensure motion accuracy and stability.

[0090] In this embodiment, by introducing a lifting device and its corresponding control logic into the humanoid robot, the robot's operational capabilities can be effectively expanded, enabling it to flexibly adjust its posture in complex terrain or special environments. This improves the robot's adaptability and functionality in various application scenarios, thereby enhancing its practicality in remote operation tasks.

[0091] As described above, the first robotic arm 113 and the second robotic arm 122 are isomorphic, with the same number of joints in the first robotic arm 113 as in the second robotic arm 122. Furthermore, the mounting angle of the second robotic arm 122 on the support member 121 is the same as the mounting angle of the first robotic arm 113 on the torso 112.

[0092] When the user operates the second robotic arm 122 of the remote control device 120, the system can achieve a one-to-one posture replication because its number of joints and installation angle are consistent with the first robotic arm 113 of the robot body.

[0093] The mounting angle refers to the geometric angle formed by the robotic arm relative to its mounting position (torso 112 or support 121). By ensuring that the second robotic arm 122 has the same mounting angle as the first robotic arm 113, their spatial alignment is ensured, resulting in a more natural and intuitive operation mapping. This consistency helps users achieve greater intuition and operational comfort when using the remote control device 120, especially in tasks requiring fine control, such as grasping fragile objects or performing complex assembly actions.

[0094] In summary, by setting the number of joints of the first robotic arm 113 and the second robotic arm 122 to the same number and making their installation angles consistent, the operational consistency of the remote control system can be improved, the control difficulty can be reduced, and thus the overall operational efficiency and user experience can be improved.

[0095] In some embodiments, such as Figure 4As shown, the remote control device 120 also includes a wearable structure 124, which is detachably connected to the support member 121 in the remote control device 120. The remote operator or remote control robot can wear the remote control device 120 on the chest or back through the wearable structure 124.

[0096] In the technical solution of this application, the wearable structure 124 can be a vest-style or shoulder strap-style structure. Through a detachable connection with the support member 121, the remote operator or remote robot can flexibly install or remove the remote control device 120 according to actual needs. For example, in situations where indoor space is limited, the support member 121 can be removed from the wearable structure 124 and placed on a table or other support structure; while when prolonged standing or moving operations are required, it can be fixed to the chest or back through wearing, thereby improving the convenience and comfort of operation.

[0097] In some embodiments, see Figure 5 The remote control device 120 also includes a support unit 125, which is detachably connected to the support member 121 to support the support member 121 on the ground.

[0098] The support unit 125 can be Figure 5 The tripod or other multi-legged support structure shown can stably place the remote control device 120 on the ground to ensure that the remote control device 120 remains stable during use.

[0099] The detachable connection between the bracket unit 125 and the support member 121 of the remote control device 120 can be a snap-fit, threaded, or magnetic connection, which facilitates quick assembly or disassembly by the user. This design allows the remote control device 120 to be easily stored and carried when not in use.

[0100] In some embodiments, continue reading Figure 5 The end of the support unit 125 near the support member 121 can move in a direction perpendicular to the ground to adjust the distance between the support member 121 and the ground.

[0101] As one possible implementation, the support unit 125 is designed with a structure that can slide or rise and fall vertically at the end near the support member 121, which allows the height of the support member 121 relative to the ground to be dynamically adjusted. In this way, users can flexibly set the working height of the remote control device 120 according to their own height, operating posture (such as standing or sitting posture) and specific task requirements, thereby improving operating comfort and work efficiency.

[0102] In some embodiments, the support unit 125 further includes a lifting drive unit for adjusting the height of the support unit 125 according to the user's height, so that the height of the support member 121 from the ground matches the user's height.

[0103] The lifting drive unit can be installed outside or inside the support structure, and the drive unit can be implemented by various means such as electric, pneumatic or hydraulic.

[0104] As one possible implementation, the lifting drive unit may include a motor, a lead screw transmission mechanism, a guide rail assembly, and a control module. By receiving signals from sensors or user input, the lifting drive unit can automatically or manually adjust the overall height of the bracket, thereby changing the height position of the support member 121 relative to the ground.

[0105] In practical applications, when using remote-controlled devices, a height sensor or camera mounted on a tripod can detect the standing height of the operator or robot, and calculate the optimal support height based on this data. The lifting drive unit then activates, moving the entire support up and down until the support reaches the optimal operating position that matches the height of the operator or robot. This method not only improves operational comfort but also enhances the consistency and efficiency of human-machine interaction.

[0106] In some embodiments, the lifting drive unit can be integrated into the central support rod of the tripod, and the height can be adjusted by an electric push rod; in other embodiments, the lifting drive unit can also be distributed on multiple legs of the tripod to achieve a smoother lifting process.

[0107] In some embodiments, the remote control device 120 further includes sensors for collecting motion information of a first number of joints in the second robotic arm 122.

[0108] Motion information is a data set about the joint states of the second robotic arm 122, typically including parameters such as angle, angular velocity, and acceleration. This information reflects the details of the user's actions when operating the remote control device 120 and serves as the basis for mapping control commands to the first robotic arm 113.

[0109] Sensors can be installed at each joint of the second robotic arm 122 to acquire motion parameters such as angle, displacement, and velocity of each joint in real time. In this embodiment, the types of sensors may include angle encoders, inertial measurement units, force feedback sensors, etc. For example, a high-precision angle encoder can be used to capture the rotation angle of each joint to achieve accurate reconstruction of the motion state of the humanoid robot arm.

[0110] In this embodiment of the application, the remote control device 120 further includes a processor, which is used to determine a first control command based on the mapping relationship between a first number of joints in the first robotic arm 113 and a first number of joints in the second robotic arm 122, and the motion information of the first number of joints in the second robotic arm 122; the first control command includes the motion control command of each joint in the first number of joints in the first robotic arm 113.

[0111] The aforementioned mapping relationship refers to the one-to-one correspondence between the joint positions of the second robotic arm 122 and the first robotic arm 113. Since both have the same configuration, and their number and arrangement of joints are identical, a one-to-one mapping table can be established. For example, the first joint of the second robotic arm 122 corresponds to the first joint of the first robotic arm 113, the second joint corresponds to the second joint, and so on. This mapping mechanism ensures that when a user operates the remote control device 120, their actions can be accurately copied onto the remote robot.

[0112] The first control command is an output signal calculated by the processor based on the aforementioned mapping relationship and motion information, used to control the movement of each joint in the first robotic arm 113. The first control command includes, but is not limited to, parameters such as target angle, velocity, and acceleration, ensuring that the first robotic arm 113 can precisely execute actions according to the user's intention. For example, when the user rotates a joint of the second robotic arm 122, the processor converts the joint's motion parameters into corresponding control signals and sends them to the corresponding joint actuator in the first robotic arm 113, thereby achieving synchronized movement.

[0113] In some embodiments, the number of the first robotic arm 113 and the second robotic arm 122 in the robot remote control system 100 is at least two.

[0114] By setting up two or more robotic arms, the system can more realistically reproduce the behavior patterns of human hands, thereby supporting collaborative operation of both arms, improving the flexibility of remote control and the ability to complete complex tasks.

[0115] In practical applications, this dual-arm configuration is particularly suitable for scenarios requiring precise operation and multi-point coordination, such as remotely controlling robots to assemble parts on factory assembly lines, or remotely controlling robots to operate shelves and pallets simultaneously in warehouse environments. By using two second robotic arms, operators can control the two first robotic arms more intuitively and naturally, thereby significantly improving remote operation efficiency and task completion quality.

[0116] The technical solution provided in this application offers the following advantages: First, using a robotic arm with the same structure as the robot for remote operation eliminates the data mapping problem caused by the difference in human and robot configurations in traditional motion capture equipment, improving the accuracy and consistency of operation. Second, using an end effector to control the chassis and lifting mechanism makes operation simple and intuitive, improving user efficiency. Third, the overall system has a compact structure, is easy to carry, is not limited by location, and is suitable for various application scenarios, facilitating promotion and widespread adoption. Furthermore, compared to traditional motion capture equipment, this solution is lower in cost and more suitable for large-scale applications.

[0117] Based on the above technical solution, it can be applied in multiple scenarios. For example, in data acquisition centers, robots can be remotely controlled to continuously collect data in environments such as shopping malls and supermarkets, such as continuously grabbing goods from shelves or tables; in terms of remote robot takeover, the device can be used in dangerous environments where people cannot reach, allowing robots to complete high-risk tasks remotely; or in unmanned retail stores, when robots are unable to grab certain goods on their own, remote control can be used to remedy and resolve the situation.

[0118] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0119] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0120] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0121] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0122] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A robot remote control system, characterized in that, include: A humanoid robot includes a chassis, a torso, a first robotic arm, and an end effector. The torso is connected to the chassis, the first robotic arm is connected to the torso, and the end effector is located at the end of the first robotic arm away from the torso. The remote control device includes a support, a second robotic arm, and an end effector. The second robotic arm is mounted on the support and has the same joint configuration as the first robotic arm. The end effector is located at the end of the second robotic arm away from the support. The remote control device is communicatively connected to the humanoid robot and is used to: receive a first operation on the second robotic arm and a second operation on the end effector; and generate a first control command and a second control command based on the first operation and the second operation, wherein the first control command is used to control the movement of the first robotic arm and the second control command is used to control the movement of the end effector. The humanoid robot is used to: control the first robotic arm to perform the same action as the second robotic arm in response to the first control command, and to control the end effector to perform an opening / closing operation in response to the second control command.

2. The robot remote control system according to claim 1, characterized in that, The humanoid robot also includes a drive unit connected to the chassis, which is used to drive the humanoid robot to move. The remote control device is further configured to: receive a third operation on the end handle, and generate a third control command based on the third operation, the third control command being used to control the movement of the drive device; The humanoid robot is also used to: control the movement of the drive device in response to the third control command, so as to move the humanoid robot.

3. The robot remote control system according to claim 2, characterized in that, The humanoid robot also includes a lifting device, which is disposed between the chassis and the torso, for driving the torso to rise and fall relative to the chassis. The remote control device is further configured to: receive a fourth operation on the end handle, and generate a fourth control command based on the fourth operation, the fourth control command being used to control the movement of the lifting device; The humanoid robot is also used to: control the movement of the lifting device in response to the fourth control command, so that the torso rises or falls relative to the chassis.

4. The robot remote control system according to claim 1, characterized in that, The number of joints in the first robotic arm is the same as the number of joints in the second robotic arm, and the mounting angle of the second robotic arm on the support is the same as the mounting angle of the first robotic arm on the torso.

5. The robot remote control system according to any one of claims 1 to 4, characterized in that, The remote control device also includes a wearable structure, which is detachably connected to the support member so that the remote control device can be worn on the chest or back of a remote operator or remote control robot through the wearable structure.

6. The robot remote control system according to any one of claims 1 to 4, characterized in that, The remote control device also includes a support unit, which is detachably connected to the support member and is used to support the support member on the ground.

7. The robot remote control system according to claim 6, characterized in that, The support unit can move along a direction perpendicular to the ground at the end near the support member to adjust the height of the support member from the ground.

8. The robot remote control system according to claim 7, characterized in that, The support unit also includes a lifting drive unit, used to adjust the height of the support unit according to the height of the remote operator or remote robot, so that the height of the support member from the ground matches the height of the remote operator or remote robot.

9. The robot remote control system according to any one of claims 1 to 4, characterized in that, The remote control device also includes: Sensors are used to collect motion information of a first number of joints in the second robotic arm; The processor is configured to determine the first control instruction based on the mapping relationship between a first number of joints in the first robotic arm and a first number of joints in the second robotic arm, and the motion information of the first number of joints in the second robotic arm; the first control instruction includes the motion control instruction for each of the first number of joints in the first robotic arm.

10. The robot remote control system according to any one of claims 1 to 4, characterized in that, The number of the first robotic arm and the second robotic arm is at least two.

Images