A teleoperation system for a surrogate robot

Abstract

The utility model discloses a kind of remote control systems of double for a living robot, it includes main control unit, action analysis unit, environment perception unit and execution unit.Main control unit receives remote terminal instruction and generates control signal;Action analysis unit generates action sequence;Environment perception unit acquires environmental data;Execution unit drives mechanical structure to complete action.System also includes adaptive adjustment module, feedback control module, wireless communication module etc., to improve intelligent level and operation efficiency.The present application can solve the problem of traditional system dependence single operation mode, meet the precise control demand under complex scene, with wide application prospect.

Description

Technical Field

[0001] This utility model relates to the field of robot control and remote communication technology, and in particular to a remote control system for a surrogate robot. Background Technology

[0002] Surrogate robots are a significant achievement of modern technology, widely used in remote operation, hazardous environment work, and social interaction. As technology advances, surrogate robots are gradually acquiring multiple functions; however, traditional remote control systems typically rely on a single operating mode and are primarily controlled manually in real-time, lacking intelligent auxiliary functions. This approach may affect operational efficiency and accuracy in complex scenarios, making it difficult to fully meet practical application needs. Utility Model Content

[0003] The purpose of this utility model is to provide a remote control system for a substitute robot, which solves the problems mentioned in the background art.

[0004] This utility model is implemented as follows: a remote control system for a substitute robot includes: a main control unit, a motion analysis unit, an environmental perception unit, and an execution unit.

[0005] The main control unit has an input terminal connected to a remote terminal and an output terminal connected to an action parsing unit and an execution unit, respectively. The main control unit is configured to receive operation instructions from the remote terminal and generate control signals.

[0006] The motion analysis unit has its input end connected to the main control unit and its output end connected to the execution unit; the motion analysis unit is configured to generate a sequence of robot motions based on control signals; the environment perception unit has its input end connected to an external sensor and its output end connected to the main control unit; the environment perception unit is configured to collect real-time data of the robot's environment and transmit the data to the main control unit.

[0007] The execution unit has its input end connected to the motion analysis unit and its output end connected to the mechanical structure of the surrogate robot; the execution unit is configured to drive the mechanical structure to complete a specified action.

[0008] In an exemplary embodiment of this utility model, the action parsing unit includes:

[0009] Attitude analysis module and path planning module;

[0010] The attitude analysis module has its input end connected to the main control unit and its output end connected to the path planning module; the attitude analysis module is configured to analyze the attitude information in the control signal and generate attitude adjustment commands.

[0011] The path planning module has its input end connected to the attitude analysis module and its output end connected to the execution unit; the path planning module is configured to generate the optimal motion path based on the attitude adjustment command and the data from the environmental perception unit.

[0012] In an exemplary embodiment of this utility model, the environmental sensing unit includes:

[0013] Visual acquisition module and distance measurement module;

[0014] The visual acquisition module has an input end connected to an external camera and an output end connected to the main control unit; the visual acquisition module is configured to acquire image information around the robot.

[0015] The distance measurement module has an input end connected to an external ranging sensor and an output end connected to the main control unit; the distance measurement module is configured to collect distance information between the robot and surrounding obstacles.

[0016] In an exemplary embodiment of this utility model, the execution unit includes:

[0017] Joint drive module and end effector module;

[0018] The joint drive module has its input end connected to the motion analysis unit and its output end connected to the joint motor of the surrogate robot; the joint drive module is configured to drive the joint motor to complete angle adjustment.

[0019] The end effector module has its input end connected to the motion analysis unit and its output end connected to the end effector tool of the surrogate robot; the end effector module is configured to drive the end effector tool to complete a specific task.

[0020] In an exemplary embodiment of this invention, the remote control system for the surrogate robot further includes:

[0021] Adaptive adjustment module, feedback control module, and display interface;

[0022] The feedback control module has its input terminals connected to the environmental sensing unit and the execution unit, its output terminal connected to the display interface, and its control terminal connected to the adaptive adjustment module.

[0023] The adaptive adjustment module has its input end connected to the main control unit and its output end connected to the motion analysis unit; the adaptive adjustment module is configured to dynamically adjust the parameters of the motion analysis unit based on the data from the environmental perception unit.

[0024] The display interface has an input terminal connected to the feedback control module; the display interface is configured to display robot status information and environmental perception data.

[0025] In an exemplary embodiment of this utility model, the adaptive adjustment module includes:

[0026] Mode switching module and parameter optimization module;

[0027] The mode switching module has its input end connected to the main control unit and its output end connected to the parameter optimization module; the mode switching module is configured to select different working modes according to the complexity of the environment.

[0028] The parameter optimization module has its input end connected to the mode switching module and its output end connected to the motion parsing unit; the parameter optimization module is configured to optimize the operating parameters of the motion parsing unit according to the current mode.

[0029] In an exemplary embodiment of this invention, the remote control system for the surrogate robot further includes:

[0030] Wireless communication module and local storage module;

[0031] The wireless communication module has an input end connected to the main control unit and an output end connected to a remote terminal; the wireless communication module is configured to realize data interaction between the main control unit and the remote terminal.

[0032] The local storage module has its input end connected to the main control unit; the local storage module is configured to store data collected by the environment perception unit and action sequences generated by the action parsing unit.

[0033] In an exemplary embodiment of this invention, the remote control system for the surrogate robot further includes:

[0034] Safety protection module;

[0035] The security protection module has its input end connected to the main control unit and its output end connected to the execution unit; the security protection module is configured to monitor the working status of the execution unit and interrupt operation in case of abnormality.

[0036] In an exemplary embodiment of this invention, the remote control system for the surrogate robot further includes:

[0037] Voice interaction module;

[0038] The voice interaction module has an input end connected to an external microphone and an output end connected to the main control unit; the voice interaction module is configured to receive voice commands and convert them into control signals.

[0039] In this invention, the main control unit receives operation commands from a remote terminal and works collaboratively with the motion analysis unit, environment perception unit, and execution unit, solving the problem of traditional remote control systems relying on a single operation mode. The motion analysis unit, in conjunction with the posture analysis module and path planning module, generates precise motion sequences. The environment perception unit acquires comprehensive environmental information through a vision acquisition module and a distance measurement module. The execution unit completes complex mechanical movements through a joint drive module and an end effector module. Furthermore, the adaptive adjustment module dynamically adjusts system parameters according to environmental complexity, and the feedback control module provides real-time feedback of robot status and environmental information to the display interface, thereby improving operational efficiency and accuracy and meeting the practical application needs in complex scenarios. Attached Figure Description

[0040] Figure 1 A structural block diagram of the remote control system for the surrogate robot provided in this embodiment of the utility model.

[0041] The attached diagram is labeled as follows: 1. Main control unit; 2. Action analysis unit; 3. Environmental perception unit; 4. Execution unit; 5. Adaptive adjustment module; 6. Feedback control module; 7. Display interface; 8. Wireless communication module. Detailed Implementation

[0042] This utility model provides a remote control system for a substitute robot, which is described below in conjunction with the appendix. Figure 1 The implementation method is described in detail with reference to the component numbers marked in the attached drawings. In this embodiment, the remote control system of the surrogate robot includes components such as a main control unit 1, a motion analysis unit 2, an environmental perception unit 3, an execution unit 4, an adaptive adjustment module 5, a feedback control module 6, a display interface 7, a wireless communication module 8, and a safety protection module. The connection relationships, positional relationships, and mutual cooperation relationships between the components are as follows.

[0043] The main control unit 1 serves as the control core of the system. Its input end interacts with the remote terminal via the wireless communication module 8, and its output end is connected to the motion analysis unit 2 and the execution unit 4, respectively. The main control unit 1 receives operation instructions from the remote terminal and generates control signals. Simultaneously, it transmits these signals to the motion analysis unit 2 to generate a robot motion sequence and directly sends control commands to the execution unit 4. The main control unit 1 is typically located in the core control area inside the surrogate robot to facilitate efficient data transmission and signal processing with other modules.

[0044] The input of motion analysis unit 2 is connected to the main control unit 1, and the output is connected to the execution unit 4. Motion analysis unit 2 is further divided into an attitude analysis module and a path planning module. The attitude analysis module analyzes the attitude information in the control signal and generates attitude adjustment commands, while the path planning module generates the optimal motion path based on the attitude adjustment commands and data provided by the environmental perception unit 3. Motion analysis unit 2 is connected to the main control unit 1 via a high-speed data bus to ensure real-time performance, and communicates with the execution unit 4 through a dedicated interface to ensure that the motion sequence is accurately transmitted to the mechanical structure.

[0045] The input of the environmental perception unit 3 is connected to an external sensor, and the output is connected to the main control unit 1. The environmental perception unit 3 includes a vision acquisition module and a distance measurement module. The vision acquisition module acquires image information about the robot's surroundings through an external camera, while the distance measurement module obtains distance information between the robot and surrounding obstacles through an external ranging sensor. The environmental perception unit 3 transmits the acquired real-time data to the main control unit 1, providing a basis for the main control unit 1 to generate control signals. The environmental perception unit 3 is typically installed on the head or upper torso of the surrogate robot to cover a larger perception range.

[0046] The input of execution unit 4 is connected to motion analysis unit 2, and its output is connected to the mechanical structure of the surrogate robot. Execution unit 4 includes a joint drive module and an end effector module. The joint drive module adjusts angles by driving joint motors, while the end effector module drives an end effector tool to complete specific tasks. A high-precision servo control system connects execution unit 4 and motion analysis unit 2 to ensure accurate execution of motion sequences. The physical locations of execution units 4 are distributed across various joints and the end effector tool of the surrogate robot, facilitating direct drive of mechanical components.

[0047] The input of the adaptive adjustment module 5 is connected to the main control unit 1, and the output is connected to the motion analysis unit 2. The adaptive adjustment module 5 includes a mode switching module and a parameter optimization module. The mode switching module selects different operating modes according to the environmental complexity, while the parameter optimization module optimizes the operating parameters of the motion analysis unit 2 based on the current mode. The adaptive adjustment module 5 is connected to the main control unit 1 via a dedicated communication interface and transmits data to the motion analysis unit 2 via a parameter adjustment channel. The adaptive adjustment module 5 is typically integrated near the main control unit 1 to facilitate rapid response to environmental changes.

[0048] The input terminals of the feedback control module 6 are connected to the environmental perception unit 3 and the execution unit 4, respectively, the output terminal is connected to the display interface 7, and the control terminal is connected to the adaptive adjustment module 5. The feedback control module 6 integrates the robot's state information and environmental perception data and transmits it to the display interface 7. Simultaneously, it sends adjustment commands to the adaptive adjustment module 5 as needed. The feedback control module 6 is connected to the display interface 7 via video and data interfaces, and to the adaptive adjustment module 5 via a control signal channel. The feedback control module 6 is typically located near the main control unit 1 to facilitate collaborative work with related modules.

[0049] The input terminal of display interface 7 is connected to feedback control module 6. Display interface 7 is used to display robot status information and environmental perception data. Display interface 7 presents data through a high-definition display screen, supporting operators to monitor the operating status of the substitute robot in real time. Display interface 7 is usually installed on a remote terminal, but it can also be set on the external control panel of the substitute robot for convenient on-site debugging.

[0050] The input terminal of the wireless communication module 8 is connected to the main control unit 1, and the output terminal is connected to the remote terminal. The wireless communication module 8 is used to realize data interaction between the main control unit 1 and the remote terminal. The wireless communication module 8 adopts a low-latency, high-bandwidth communication protocol to ensure that operation commands and feedback data can be transmitted in real time. The wireless communication module 8 is usually installed on the back or top of the robot to facilitate antenna placement and signal transmission.

[0051] The input terminal of the safety protection module is connected to the main control unit 1, and the output terminal is connected to the execution unit 4. The safety protection module is used to monitor the working status of the execution unit 4 and interrupt operation in abnormal situations. The safety protection module is connected to the main control unit 1 through a dedicated safety signal channel and to the execution unit 4 through an emergency stop interface. The safety protection module is usually integrated into the control circuit of the execution unit 4 to facilitate rapid response to abnormal situations.

[0052] The input end of the voice interaction module connects to an external microphone, and the output end connects to the main control unit 1. The voice interaction module receives voice commands and converts them into control signals. The voice interaction module connects to the external microphone via an audio interface and to the main control unit 1 via a data interface. The voice interaction module is typically installed on the head of the robot or near the operator to facilitate voice acquisition.

[0053] In practical applications, when an operator issues an operation command via a remote terminal, the wireless communication module 8 transmits the command to the main control unit 1. The main control unit 1 generates a control signal and sends it to the motion analysis unit 2. The posture analysis module of the motion analysis unit 2 analyzes the posture information and generates posture adjustment commands, while the path planning module combines the data from the environmental perception unit 3 to generate the optimal motion path. The visual acquisition module and distance measurement module of the environmental perception unit 3 acquire image information and distance information respectively, and transmit the data to the main control unit 1. The main control unit 1 sends the integrated data to the motion analysis unit 2, and the motion sequence generated by the motion analysis unit 2 drives the mechanical structure of the surrogate robot to complete the specified action through the execution unit 4. During this process, the adaptive adjustment module 5 dynamically adjusts the parameters of the motion analysis unit 2 according to the environmental complexity, the feedback control module 6 feeds back the robot status information and environmental perception data to the display interface 7 in real time, the safety protection module monitors the working status of the execution unit 4 and interrupts the operation when necessary, and the voice interaction module receives voice commands and converts them into control signals.

[0054] The above describes the specific implementation of the surrogate robot remote control system. Through the design of the above connection relationships, positional relationships and mutual cooperation relationships, the system realizes intelligent auxiliary functions and multi-mode operation capabilities, meeting the actual application needs in complex scenarios.

[0055] To enable those skilled in the art to fully understand and implement this utility model, the following detailed explanation of the operating principle and implementation steps of the surrogate robot remote control system is provided in conjunction with a specific application scenario.

[0056] In a hazardous work environment, operators need to remotely control a substitute robot to complete complex tasks, such as clearing obstacles or picking up specific items. The following are the specific operating steps and principles of this system in practical applications:

[0057] First, the operator issues commands via a remote terminal. The wireless communication module 8 receives the commands and transmits them to the main control unit 1. The main control unit 1, as the system's control core, parses the received commands and generates control signals. At this point, the main control unit 1 sends the control signals to the action analysis unit 2, and simultaneously transmits some key information to the environmental perception unit 3 to obtain real-time environmental data support. The wireless communication module 8 employs a low-latency, high-bandwidth communication protocol to ensure that commands reach the main control unit 1 quickly, avoiding operational errors caused by delays.

[0058] Subsequently, the posture analysis module of motion analysis unit 2 generates posture adjustment commands based on the posture information in the control signals. The posture analysis module determines the angles and positions that the surrogate robot needs to adjust by analyzing the target posture input from the remote terminal. The path planning module, combined with data provided by environment perception unit 3, generates the optimal motion path. The vision acquisition module of environment perception unit 3 captures image information around the robot through an external camera, and the distance measurement module obtains the precise distance between the robot and obstacles through a ranging sensor. This data is transmitted in real time to main control unit 1 and further to motion analysis unit 2 to optimize the path planning results. During this process, adaptive adjustment module 5 dynamically adjusts the parameters of motion analysis unit 2 according to environmental complexity, such as increasing the accuracy of path planning or adjusting the speed of posture analysis, thereby improving the system's adaptability in complex environments.

[0059] Next, motion parsing unit 2 sends the generated motion sequence to execution unit 4 via a dedicated interface. After receiving the motion sequence, the joint drive module of execution unit 4 adjusts the angle by driving the joint motors, while the end effector module drives the end tool to complete specific tasks such as picking up or cleaning. A high-precision servo control system connects execution unit 4 and motion parsing unit 2 to ensure the motion sequence is executed accurately. For example, when picking up an item, the joint drive module adjusts the angle of the robot arm according to the motion sequence, while the end effector module precisely controls the opening and closing force of the gripper to avoid damaging the target item.

[0060] Meanwhile, the feedback control module 6 integrates the robot's status information and environmental perception data and transmits them to the display interface 7. The display interface 7 presents the data on a high-definition screen, allowing operators to monitor the robot's operating status in real time. For example, when the robot approaches an obstacle, the feedback control module 6 will provide real-time feedback of distance information and the robot's current posture data to the display interface 7, helping operators adjust commands promptly. Furthermore, the feedback control module 6 also sends adjustment commands to the adaptive adjustment module 5 based on environmental changes, further optimizing the system's operating parameters.

[0061] During task execution, the safety protection module continuously monitors the working status of execution unit 4. If an abnormality is detected, such as joint motor overload or the end effector exceeding its predetermined working range, the safety protection module will immediately interrupt the operation through the emergency stop interface to prevent equipment damage or task failure. The voice interaction module allows operators to quickly adjust the robot's behavior through voice commands. For example, operators can directly control the robot's movements using voice commands such as "stop" or "accelerate." The voice interaction module converts the voice commands into control signals and transmits them to the main control unit 1.

[0062] As can be seen from the above steps, the remote control system for the surrogate robot of this utility model achieves a complete process from command reception and path planning to action execution through the coordinated work of modules such as the main control unit 1, motion analysis unit 2, environmental perception unit 3, and execution unit 4. The introduction of the adaptive adjustment module 5 and feedback control module 6 further enhances the system's intelligence level and operational efficiency in complex environments. The safety protection module and voice interaction module enhance the system's reliability and ease of use, enabling it to meet the actual needs of complex scenarios such as hazardous environment operations.

[0063] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

[0064] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A remote control system for a surrogate robot, characterized in that, include: The system comprises a main control unit (1), an action analysis unit (2), an environment perception unit (3), and an execution unit (4). The main control unit (1) has an input terminal connected to a remote terminal and an output terminal connected to the action analysis unit (2) and the execution unit (4), respectively. The main control unit (1) is configured to receive operation instructions from the remote terminal and generate control signals. The action analysis unit (2) has an input terminal connected to the main control unit (1) and an output terminal connected to the execution unit (4). The action analysis unit (2) is configured to generate a sequence of robot actions based on the control signals. The environment perception unit (3) has an input terminal connected to an external sensor and an output terminal connected to the main control unit (1). The environment perception unit (3) is configured to collect real-time data of the robot's environment and transmit the data to the main control unit (1). The execution unit (4) has an input terminal connected to the action analysis unit (2) and an output terminal connected to the mechanical structure of the substitute robot. The execution unit (4) is configured to drive the mechanical structure to complete a specified action.

2. The remote control system for a surrogate robot as described in claim 1, characterized in that, The motion analysis unit (2) includes: an attitude analysis module and a path planning module; the attitude analysis module has its input end connected to the main control unit (1) and its output end connected to the path planning module; the attitude analysis module is configured to analyze the attitude information in the control signal and generate attitude adjustment instructions; the path planning module has its input end connected to the attitude analysis module and its output end connected to the execution unit (4); the path planning module is configured to generate the optimal motion path based on the attitude adjustment instructions and the data from the environmental perception unit (3).

3. The remote control system for a surrogate robot as described in claim 1, characterized in that, The environmental perception unit (3) includes a visual acquisition module and a distance measurement module; the visual acquisition module has an input end for connecting to an external camera and an output end for connecting to the main control unit (1); the visual acquisition module is configured to acquire image information around the robot; the distance measurement module has an input end for connecting to an external ranging sensor and an output end for connecting to the main control unit (1); the distance measurement module is configured to acquire distance information between the robot and surrounding obstacles.

4. The remote control system for a surrogate robot as described in claim 1, characterized in that, The execution unit (4) includes a joint drive module and an end effector module; the joint drive module has an input end connected to the motion analysis unit (2) and an output end connected to the joint motor of the surrogate robot; the joint drive module is configured to drive the joint motor to complete angle adjustment; the end effector module has an input end connected to the motion analysis unit (2) and an output end connected to the end tool of the surrogate robot; the end effector module is configured to drive the end tool to complete the task.

5. The remote control system for a surrogate robot as described in claim 1, characterized in that, Also includes: The system comprises an adaptive adjustment module (5), a feedback control module (6), and a display interface (7). The feedback control module (6) has its input terminals connected to the environment perception unit (3) and the execution unit (4), its output terminal connected to the display interface (7), and its control terminal connected to the adaptive adjustment module (5). The adaptive adjustment module (5) has its input terminal connected to the main control unit (1) and its output terminal connected to the motion analysis unit (2). The adaptive adjustment module (5) is configured to dynamically adjust the parameters of the motion analysis unit (2) based on the data from the environment perception unit (3). The display interface (7) has its input terminal connected to the feedback control module (6). The display interface (7) is configured to display robot status information and environment perception data.

6. The remote control system for a surrogate robot as described in claim 5, characterized in that, The adaptive adjustment module (5) includes a mode switching module and a parameter optimization module; the mode switching module has an input end connected to the main control unit (1) and an output end connected to the parameter optimization module; the mode switching module is configured to select different working modes according to the complexity of the environment; the parameter optimization module has an input end connected to the mode switching module and an output end connected to the action parsing unit (2); the parameter optimization module is configured to optimize the operating parameters of the action parsing unit (2) according to the current mode.

7. The remote control system for a surrogate robot as described in claim 1, characterized in that, Also includes: The wireless communication module (8) and the local storage module; the wireless communication module (8) has an input end connected to the main control unit (1) and an output end used to connect to a remote terminal; the wireless communication module (8) is configured to realize data interaction between the main control unit (1) and the remote terminal; the local storage module has an input end connected to the main control unit (1); the local storage module is configured to store the data collected by the environment sensing unit (3) and the action sequence generated by the action parsing unit (2).

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