Robot teleoperation control system and method

Abstract

A robot teleoperation control system and method, relating to the technical field of robots. The robot teleoperation control system comprises: a teleoperation device, a control device, and a controlled robot. The teleoperation device comprises an isomorphic body having the same joint configuration as a controlled structure of the controlled robot, the teleoperation device is communicatively connected to the control device, and the control device is communicatively connected to the controlled robot. The control device is configured to receive motion information sent by the teleoperation device or the controlled robot, and generate a motion instruction on the basis of a joint mapping relationship. The motion information of the teleoperation device is generated on the basis of an operation action of the isomorphic body, and the motion information of the controlled robot is generated on the basis of an automated operation action of the controlled structure of the controlled robot. The control device is further configured to send the motion instruction to a device corresponding to the motion information, so that the isomorphic body of the teleoperation device and the controlled structure of the controlled robot perform the same action, thereby realizing bidirectional control of the teleoperation device and the controlled robot.

Description

Robot remote operation control system and method

[0001] Cross-reference to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 2024115967783, filed on November 8, 2024, entitled "Robot Teleoperation Control System and Method".

[0003] Priority is given to Chinese Patent Application No. 2025103974988, filed on March 31, 2025, entitled “Robot Teleoperation Control System and Method”, the entire contents of which are incorporated herein by reference. Technical Field

[0004] This disclosure relates to the field of robotics, and more specifically, to a robot teleoperation control system and method. Background Technology

[0005] With the development of technology, robots are increasingly being used to replace humans in field operations in many situations and environments. Teleoperated robots, as the physical embodiment of human workers, can solve various problems encountered by humans during operations. Furthermore, teleoperation has also become an important data acquisition method, enabling researchers to demonstrate and record complex robotic tasks for subsequent training of embodied intelligence-related algorithms and models.

[0006] Existing robot teleoperation control systems are mainly based on the movements of teleoperation devices, such as motion capture clothing. They control the robot's displacement through remapping algorithms and kinematic calculations. However, they can only perform unidirectional control, that is, the robot's movements are controlled by the teleoperation device, but the robot's movements cannot be synchronized back to the teleoperation device. As a result, during the robot's automated operation, the user cannot intervene in the robot's operation process through the teleoperation device. Summary of the Invention

[0007] The purpose of this disclosure is to address the shortcomings of the prior art by providing a robot teleoperation control system and method to achieve bidirectional control between the teleoperation device and the controlled robot.

[0008] To achieve the above objectives, the technical solutions adopted in the embodiments of this disclosure are as follows:

[0009] In a first aspect, embodiments of this disclosure provide a robot teleoperation control system, including: a teleoperation device, a control device, and a controlled robot. The teleoperation device includes an isomorphic body having the same joint configuration as the controlled structure of the controlled robot. The teleoperation device is communicatively connected to the control device, and the control device is communicatively connected to the controlled robot.

[0010] The control device is configured to receive motion information sent by the teleoperation device or the controlled robot, and generate motion commands based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot; wherein, the motion information of the teleoperation device is generated according to the operation action of the isomorphic body, and the motion information of the controlled robot is generated according to the automated operation action of the controlled structure of the controlled robot.

[0011] The control device is further configured to send the motion command to the device with the motion information, so that the isomorphic body of the teleoperation device and the controlled structure of the controlled robot perform the same action.

[0012] Optionally, the remote operation device further includes: a toggle button;

[0013] The switching button is configured to control the direction of command transmission between the teleoperated device and the controlled robot.

[0014] Optionally, the teleoperation device is configured to generate motion information based on the user's operation on the isomorphic body and send the first motion information to the control device;

[0015] The control device is configured to generate a forward motion control command for the controlled robot based on the first motion information and the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, and to send the forward motion control command to the controlled robot.

[0016] The controlled robot is configured to perform the same actions as the isomorphic body actions of the teleoperation device according to the forward motion control command.

[0017] Optionally, the controlled robot is configured to collect second motion information of the controlled structure when executing automated operation instructions, and send the second motion information to the control device;

[0018] The control device is configured to generate a reverse motion control command for the teleoperation device based on the second motion information and the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, and to send the reverse motion control command to the teleoperation device.

[0019] The teleoperation device is configured to control the isomorphic body to perform the same actions as the controlled structure actions of the controlled robot according to the reverse motion control command.

[0020] Optionally, the remote operation device further includes a sensor, a signal driver, and a signal transmission module;

[0021] The sensor is configured to detect the movement of each joint of the isomorphic body and generate first motion information of each joint of the isomorphic body.

[0022] The signal driver is configured to collect motion information of each joint of the isomorphic body;

[0023] The signal transmission module is configured to send the first motion information of each joint of the isomorphic body to the control device.

[0024] Optionally, the signal transmission module is further configured to receive the reverse motion control command sent by the control device, and send the reverse motion control command to the sensor through the signal driver;

[0025] The sensor is also configured to control the isomorphic body to perform the same actions as the controlled structure actions of the controlled robot according to the reverse motion control command.

[0026] Optionally, the control device includes an instruction generation module;

[0027] The instruction generation module is configured to filter the first motion information of each joint of the isomorphic body of the teleoperation device; based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, perform joint mapping between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot to determine the filtered motion information corresponding to each joint of the controlled structure of the controlled robot; and generate forward motion control instructions for each joint of the controlled structure of the controlled robot based on the filtered motion information corresponding to each joint of the controlled structure of the controlled robot; or, the instruction generation module is configured to filter the second motion information of the controlled structure of the controlled robot; based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, perform joint mapping between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot to determine the filtered motion information corresponding to each joint of the isomorphic body of the teleoperation device; and generate reverse motion control instructions for the isomorphic body of the teleoperation device based on the filtered motion information corresponding to each joint of the isomorphic body of the teleoperation device.

[0028] Optionally, the instruction generation module is further configured to perform zero-position calibration on each joint of the isomorphic body of the teleoperation device and the controlled structure of the controlled robot before performing joint mapping on the isomorphic body of the teleoperation device and the controlled structure of the controlled robot.

[0029] Optionally, the control device further includes a hardware driver module;

[0030] The hardware driver module is configured to perform protocol conversion on the forward motion control commands of each joint of the controlled structure of the controlled robot according to the type of the controlled robot; or, the hardware driver module is configured to perform protocol conversion on the second motion information of the controlled structure of the controlled robot according to the type of the controlled robot.

[0031] Optionally, the controlled structure of the controlled robot is provided with a joint module;

[0032] The joint module is configured to collect second motion information of the controlled structure when the controlled robot executes automated operation instructions, and send the second motion information to the control device.

[0033] Optionally, the controlled structure of the controlled robot includes a robotic arm, and the isomorphic body of the teleoperation device includes an isomorphic robotic arm with the same joint configuration as the robotic arm of the controlled robot.

[0034] The controlled robot also includes an actuator located at the end of the robotic arm, and the teleoperation device also includes an execution controller located at the end of the isomorphic robotic arm that corresponds to the actuator of the controlled robot.

[0035] The execution controller is configured to generate execution information based on the user's operation on the execution controller; the signal driver is further configured to collect the execution information of the execution controller; the signal transmission module is further configured to send the execution information of the execution controller to the control device.

[0036] In the control device, the instruction generation module is further configured to generate a first execution control instruction for the actuator of the controlled robot based on the execution information of the execution controller of the teleoperation device; the hardware driver module is further configured to perform protocol conversion on the first execution control instruction of the actuator of the controlled robot based on the type of the controlled robot.

[0037] In the controlled robot, the actuator operates according to the first execution control command.

[0038] Optionally, in the controlled robot, the actuator performs a preset action according to the automated operation instruction and sends the action information of the preset action to the control device;

[0039] In the control device, the hardware driver module is further configured to perform protocol conversion on the motion information of the preset action according to the type of the controlled robot; the instruction generation module is further configured to generate a second execution control instruction for the execution controller of the teleoperation device according to the protocol-converted motion information.

[0040] In the remote operation device, the signal transmission module is further configured to send the second execution control command generated by the control device to the execution controller through the signal driver; the execution controller performs an operation action corresponding to the preset action of the execution mechanism according to the second execution control command.

[0041] In a second aspect, embodiments of this disclosure provide a robot teleoperation control method, applied to a control device in a robot teleoperation control system as described in any of the first aspects, the method comprising:

[0042] The system receives motion information sent by the teleoperation device or the controlled robot. The motion information of the teleoperation device is generated based on the operation actions of the isomorphic body, and the motion information of the controlled robot is generated based on the automated operation actions of the controlled structure of the controlled robot.

[0043] Based on the motion information, and based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, motion commands are generated and sent to the device corresponding to the motion information, so that the isomorphic body of the teleoperation device and the controlled structure of the controlled robot perform the same action.

[0044] The beneficial effects of this disclosure are:

[0045] The robot teleoperation control system and method disclosed herein, by designing a teleoperation device with the same joint configuration as the controlled structure of the robot, allows for direct joint-to-joint motion control through the joint mapping relationship between the isomorphic body and the controlled structure when controlling the robot via the teleoperation device or vice versa. This eliminates the need for kinematic calculations and improves the control accuracy of both the robot teleoperation control and the teleoperation device's reverse control, ensuring accurate movements of both. Furthermore, the bidirectional control system allows for control not only of the robot via the teleoperation device but also of the teleoperation device via the controlled robot. This ensures that the teleoperation device maintains the same movements as the robot during automated operations. In case of unforeseen circumstances, the user can directly intervene in the robot's actions via the teleoperation device, guaranteeing operational safety. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this disclosure and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 is an architecture diagram of the robot teleoperation control system provided in an embodiment of this disclosure;

[0048] Figure 2 is a schematic diagram of the structure of the remote operation device provided in an embodiment of this disclosure;

[0049] Figure 3 is a structural schematic diagram of the support member provided in an embodiment of this disclosure;

[0050] Figure 4 is a schematic diagram of the structure of the execution controller provided in an embodiment of this disclosure;

[0051] Figure 5 is a schematic diagram of the assembly of the support member and the fixed installation structure provided in the embodiment of this disclosure;

[0052] Figure 6 is a schematic diagram of the wearable structure provided in an embodiment of this disclosure.

[0053] Figure 7 is a second structural schematic diagram of the wearable structure provided in an embodiment of this disclosure;

[0054] Figure 8 is a flowchart illustrating the robot teleoperation control method provided in an embodiment of this disclosure.

[0055] Wherein: 100-Teleoperation device; 101-Isomorphic body; 102-Sensor; 103-Signal driver; 104-Signal transmission module; 105-Shortcut button; 106-Power supply board; 107-Execution controller; 108-Isomorphic robotic arm; 109-Support component; 110-Fixing component; 111-Fixing installation structure; 112-Hook and loop; 113-Wearable structure; 131-Wearable component; 132-Fixing component; 171-Connector; 172-Driver; 173-Rotation sensor; 191-Base plate; 192-First connecting plate; 193-Second connecting plate; 194-Boss; 195-Positioning slot; 200-Control device; 201-Command generation module; 202-Hardware driver module; 300-Controlled robot; 301-Robotic arm; 302-Execution mechanism; 303-Head; 304-Tortoise; 305-Moving mechanism. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this disclosure, but not all embodiments.

[0057] Therefore, the following detailed description of the embodiments of this disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed disclosure, but merely to illustrate selected embodiments of the disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0058] In the description of this disclosure, it should be noted that if the terms "upper", "lower", etc. appear to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product is usually placed in during use, they are only for the convenience of describing this disclosure 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 disclosure.

[0059] Furthermore, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0060] It should be noted that, where there is no conflict, the features in the embodiments of this disclosure can be combined with each other.

[0061] Figure 1 is an architecture diagram of the robot teleoperation control system provided in the embodiments of this disclosure. As shown in Figure 1, the robot teleoperation control system may include: a teleoperation device 100, a control device 200, and a controlled robot 300. The teleoperation device 100 includes an isomorphic body 101 with the same joint configuration as the controlled structure of the controlled robot 300. The teleoperation device 100 is communicatively connected to the control device 200, and the control device 200 is communicatively connected to the controlled robot 300.

[0062] The control device 200 is configured to receive motion information sent by the teleoperation device 100 or the controlled robot 300, and generate motion commands based on the joint mapping relationship between the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300; wherein, the motion information of the teleoperation device 100 is generated according to the operation action of the isomorphic body 101, and the motion information of the controlled robot 300 is generated according to the automated operation action of the controlled structure of the controlled robot 300; the control device 200 is also configured to send motion commands to the device with the corresponding motion information, so that the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300 perform the same action.

[0063] In this embodiment, each joint of the controlled structure of the controlled robot 300 is scaled up according to a certain ratio to design an isomorphic body 101 with the same joint configuration as the controlled structure of the controlled robot 300. The remote operation device 100 may include an isomorphic structure module, and the isomorphic structure module may include the isomorphic body 101.

[0064] The teleoperation device 100 and the controlled robot 300 can achieve bidirectional control. During the process of the teleoperation device 100 controlling the controlled robot 300, the user operates the isomorphic body 101 of the teleoperation device 100 to perform operation actions and generate motion information. The control device 200 receives the action information sent by the teleoperation device 100 and generates motion commands based on the joint mapping relationship between the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300. The control device 200 sends the motion commands to the controlled robot 300 so that the controlled robot 300 controls the controlled structure to perform the same actions as the isomorphic body 101 of the teleoperation device 100 according to the motion commands.

[0065] During the process of the controlled robot 300 operating independently without the control of the teleoperation device 100, the controlled robot 300 sends motion information to the control device 200. The control device 200 generates motion commands based on the joint mapping relationship between the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300, and sends the motion commands to the teleoperation device 100 so that the teleoperation device 100 controls the isomorphic body 101 to perform the same actions as the controlled structure of the controlled robot 300 according to the motion commands.

[0066] The robot teleoperation control system provided in the above embodiments, by designing a teleoperation device with the same joint configuration as the controlled structure of the controlled robot, allows for direct joint-to-joint motion control through the joint mapping relationship between the isomorphic body and the controlled structure when controlling the controlled robot via the teleoperation device or vice versa. This eliminates the need for kinematic calculations and improves the control accuracy of both the robot teleoperation control and the teleoperation device's reverse control, ensuring accurate movements of both the controlled robot and the teleoperation device. Furthermore, the bidirectional control system allows for control not only of the controlled robot via the teleoperation device but also of the teleoperation device via the controlled robot. This ensures that the teleoperation device maintains the same movements as the controlled robot during automated operations. In case of unforeseen circumstances, the user can directly intervene in the controlled robot's actions via the teleoperation device, ensuring operational safety.

[0067] In one possible implementation, the teleoperation device 100 may further include a toggle button. The toggle button is configured to control the direction of command transmission between the teleoperation device and the controlled robot.

[0068] In this embodiment, the switch button is configured to switch between the forward synchronization function and the reverse synchronization function between the teleoperated device and the controlled robot. In response to the user's pressing operation through the switch button, the action of the teleoperated device 100 is forward synchronized to the action of the controlled robot 300, or the action of the controlled robot 300 is synchronized to the action of the teleoperated device 100.

[0069] In one possible implementation, the teleoperation device 100 is configured to generate first motion information based on the user's operation on the isomorphic body 101 and send the first motion information to the control device 200; the control device 200 is configured to generate a forward motion control command for the controlled robot 300 based on the first motion information and the joint mapping relationship between the isomorphic body of the teleoperation device 100 and the controlled structure of the controlled robot 300, and send the forward motion control command to the controlled robot 300; the controlled robot 300 is configured to control the controlled structure to perform the same action as the isomorphic body 101 of the teleoperation device 100 according to the forward motion control command.

[0070] In this embodiment, when it is necessary to control the controlled robot 300 to perform actions, the user can control the isomorphic body 101 of the teleoperation device 100 to perform operation actions. The teleoperation device 100 collects the first motion information of each joint of the isomorphic body 101 and sends it to the control device 200.

[0071] The joint mapping relationship includes the pre-established spatial mapping relationship between the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300. After receiving the first motion information of each joint of the isomorphic body 101 of the teleoperation device 100, the control device 200 performs spatial mapping on the first motion information of each joint of the isomorphic body 101 of the teleoperation device 100 according to the spatial mapping relationship of each joint, determines the motion information of each joint of the controlled structure of the controlled robot 300, generates positive motion control commands for each joint of the controlled structure of the controlled robot 300, and sends the positive motion control commands for each joint of the controlled structure of the controlled robot 300 to the controlled robot 300.

[0072] After receiving the forward motion control commands from each joint, the controlled robot 300 moves each joint of the controlled structure according to the corresponding forward motion control commands, so that the controlled structure of the controlled robot 300 performs the same actions as the user performs through the isomorphic body 101 of the remote operation device 100.

[0073] The robot teleoperation control system provided in the above embodiments, by designing a teleoperation device 100 with a homogeneous body 101 having the same joint configuration as the controlled structure of the controlled robot 300, allows the controlled robot 300 to be controlled directly through the joint mapping relationship between the homogeneous body 101 and the controlled structure, and to perform motion control in a joint-to-joint manner, without the need for kinematic calculations. This joint-to-joint motion control improves the control accuracy of the robot teleoperation control and ensures the accurate movement of the controlled robot 300.

[0074] In another possible implementation, as shown in Figure 1, the controlled robot 300 is configured to collect second motion information of the controlled structure when executing automated operation instructions, and send the second motion information to the control device 200; the control device 200 is configured to generate a reverse motion control command for the teleoperation device 100 based on the second motion information and the joint mapping relationship between the isomorphic body 100 of the teleoperation device 100 and the controlled structure of the controlled robot 300, and send the reverse motion control command to the teleoperation device 100; the teleoperation device 100 is configured to control the isomorphic body 101 to perform the same action as the controlled structure of the controlled robot 300 according to the reverse motion control command.

[0075] In this embodiment, when the controlled robot 300 executes the automated operation command, it collects the second motion information of the controlled structure. The second motion information may include at least the joint position information of the controlled structure and may also include the joint force information of the controlled structure. After collecting the second motion information, it sends the second motion information to the control device 200. The control device 200 performs spatial mapping on the motion information of each joint of the controlled structure of the controlled robot 300 according to the spatial mapping relationship of each joint, determines the motion information of each joint of the isomorphic body 101 of the teleoperation device 100, and generates the reverse motion control command for each joint of the isomorphic body 101 of the teleoperation device 100. The reverse motion control command is then sent to the teleoperation device 100.

[0076] After receiving the reverse motion control command, the teleoperation device 100 controls each joint of the isomorphic body 100 to move according to the reverse motion control command, so that the isomorphic body 101 of the teleoperation device 100 performs the same actions as the controlled structure of the controlled robot 300 when performing automated operations.

[0077] The robot teleoperation control system provided in the above embodiments designs a teleoperation device with the same joint configuration as the controlled robot, enabling the controlled robot to control the teleoperation device in reverse. This allows the teleoperation device to maintain the same movements as the controlled robot during automated operations. In this way, in case of unexpected situations, the user can directly intervene in the controlled robot's movements through the teleoperation device, ensuring the safety of the operation.

[0078] In one possible implementation, as shown in FIG1, the remote operation device 100 further includes a sensor 102, a signal driver 103, and a signal transmission module 104.

[0079] Sensor 102 is configured to detect the motion of each joint of isomorphic body 101 and generate first motion information of each joint of isomorphic body 101.

[0080] The signal driver 103 is configured to acquire the first motion information of each joint of the isomorphic body.

[0081] The signal transmission module 104 is configured to send the first motion information of each joint of the isomorphic body 101 to the control device 200.

[0082] In this embodiment, the teleoperation device 100 includes not only a homogeneous structure module, but also a homogeneous hardware module and a signal transmission module 104. The homogeneous hardware module includes a sensor 102 and a signal driver 103. The sensor 102 is disposed at each joint of the homogeneous body 101 of the teleoperation device 100.

[0083] During the process of controlling the controlled robot 300 through the remote operation device 100, the sensor 102 is configured to detect the motion state of each joint and acquire motion information of each joint. The motion information may be, for example, the position information of each joint.

[0084] The signal driver 103 is configured to collect motion information of each joint of the isomorphic body 101 of the teleoperation device 100 from the sensors 102 installed at each joint of the isomorphic body 101 of the teleoperation device 100, and send the motion information of each joint of the isomorphic body 101 of the teleoperation device 100 to the control device 200 through the signal transmission module 104. The signal driver 103 is installed in the teleoperation device 100 in the form of a signal driver board.

[0085] In one possible implementation, the signal transmission module 104 is further configured to receive reverse motion control commands sent by the control device 200 and transmit the reverse motion control commands to the sensor 102 via the signal driver 103.

[0086] The sensor 102 is also configured to control the isomorphic body 101 of the teleoperation device 100 to perform the same actions as the controlled structure of the controlled robot 300 according to the reverse motion control command.

[0087] In this embodiment, during the process of reverse control of the teleoperation device 100 by the controlled robot 300, the signal transmission module 104 receives the reverse motion control command sent by the control device 200 and transmits the reverse motion control command to the sensor 102 through the signal driver 103. The signal driver 103 can convert the reverse motion control command into a signal that the sensor can recognize. After receiving the signal corresponding to the reverse motion control command, the sensor 102 controls the motion state of each joint of the isomorphic body 101 of the teleoperation device 100 to be consistent with the motion state of each joint of the controlled structure of the controlled robot 300 according to the signal corresponding to the reverse motion control command.

[0088] Furthermore, in order to both collect motion information of each joint of the isomorphic body 101 of the teleoperation device 100 and control the motion state of each joint of the isomorphic body 101 of the teleoperation device 100 according to the signal corresponding to the reverse motion control command, the sensor 102 can be, for example, a servo mechanism such as a servo motor or a servo module. This embodiment does not limit this.

[0089] In some embodiments, the signal transmission module 104 employs a corresponding signal transmission method to realize signal transmission between the remote operation device 100 and the control device 200. The signal transmission module 104 may include one signal transmission hardware to provide a single signal transmission method to meet the signal transmission needs of a single scenario, or it may include multiple signal transmission hardware to provide multiple signal transmission methods to meet the signal transmission needs of multiple application scenarios. For example, the signal transmission methods provided by the signal transmission module 104 may include: Universal Serial Bus (USB) transmission, Wireless Fidelity (WIFI) transmission, 5G transmission, Ethernet transmission, etc., and this embodiment does not limit this.

[0090] In some embodiments, as shown in FIG1, the homogeneous hardware module may further include: a shortcut button 105, which has a custom function. In response to the user's pressing operation through the shortcut button 105, a target control signal corresponding to the custom function is generated. The signal driver 103 acquires the target control signal and sends it to the control device 200 through the signal transmission module 104.

[0091] For example, the custom function can be to enable or disable synchronization. In response to the user's input via shortcut button 105, an enable synchronization control signal or a disable synchronization control signal is generated. Based on the enable synchronization control signal, the control device 200 sends an enable synchronization command to the controlled robot 300, enabling the teleoperated device 100 and the controlled robot 300 to perform synchronized actions. Based on the disable synchronization control signal, the control device 200 sends a disable synchronization command to the controlled robot 300, causing the teleoperated device 100 and the controlled robot 300 to stop synchronized actions.

[0092] The custom function can also enable or disable the acquisition function, responding to the user's input via the shortcut button 105, generating an enable or disable acquisition signal, and controlling the device 200 to store various signals sent by the signal transmission module 104 based on the enable acquisition signal, and to stop storing various signals sent by the signal transmission module 104 based on the disable acquisition signal.

[0093] The customizable function can also switch between forward and reverse synchronization. This is done in response to user input via shortcut button 105, allowing the user to switch between forward synchronization of actions from the remote control device 100 to actions from the controlled robot 300, or vice versa. If the customizable function of shortcut button 105 is not forward / reverse synchronization, a separate switching button needs to be configured on the remote control device 100.

[0094] It should be noted that the above-mentioned custom functions are merely illustrative examples. The functions of the shortcut buttons are not limited to the above examples. In actual use, they can be customized according to actual needs. This embodiment does not impose any restrictions on this.

[0095] In some embodiments, as shown in FIG1, the homogeneous hardware module may further include: a power supply board 106, which is configured to supply power to each power-consuming unit of the remote operation device 100. It may be powered by a lithium battery or connected to the power grid via a power adapter.

[0096] In one possible implementation, as shown in Figure 1, the control device 200 may include an instruction generation module 201.

[0097] In some embodiments, the instruction generation module 201 is configured to filter the motion information of each joint of the isomorphic body 101 of the teleoperation device 100; based on the joint mapping relationship between the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300, perform joint mapping between the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300 to determine the filtered motion information corresponding to each joint of the controlled structure of the controlled robot 300; and generate positive motion control instructions for each joint of the controlled structure of the controlled robot 300 according to the filtered motion information corresponding to each joint of the controlled structure of the controlled robot 300.

[0098] In this embodiment, the instruction generation module 201 is configured to execute a signal filtering algorithm and a joint mapping algorithm. The instruction generation module 201 executes the signal filtering algorithm to filter the first motion information sent by the teleoperation device 100 to obtain the filtered first motion information of each joint of the isomorphic body 101 of the teleoperation device 100. Then, it executes the joint mapping algorithm to map the filtered first motion information of each joint of the isomorphic body 101 of the teleoperation device 100 from the joint space of the isomorphic body 101 of the teleoperation device 100 to the joint space of the controlled structure of the controlled robot 300, based on the joint mapping relationship between each joint of the isomorphic body 101 of the teleoperation device 100 and each joint of the controlled structure of the controlled robot 300. This obtains the filtered motion information corresponding to each joint of the controlled structure of the controlled robot 300. Based on the filtered motion information corresponding to each joint of the controlled structure of the controlled robot 300, it generates positive motion control commands for each joint of the controlled structure of the controlled robot 300.

[0099] In other embodiments, the instruction generation module 201 is configured to filter the second motion information of the controlled structure of the controlled robot 300; based on the joint mapping relationship between the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300, perform joint mapping between the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300 to determine the filtered motion information corresponding to each joint of the isomorphic body 101 of the teleoperation device 100; and generate a reverse motion control instruction for the isomorphic body 101 of the teleoperation device 100 according to the filtered motion information corresponding to each joint of the isomorphic body 101 of the teleoperation device 100.

[0100] In this embodiment, the instruction generation module 201 is configured to execute a signal filtering algorithm and a joint mapping algorithm. The instruction generation module 201 executes the signal filtering algorithm to filter the second motion information sent by the controlled robot 300, thereby obtaining the filtered second motion information of each joint of the controlled structure of the controlled robot 300. Then, it executes the joint mapping algorithm to map the filtered second motion information of each joint of the controlled structure of the controlled robot 300 from the joint space of the controlled structure of the controlled robot 300 to the joint space of the isomorphic body 101 of the teleoperation device 100, thereby obtaining the filtered motion information corresponding to each joint of the isomorphic body 101 of the teleoperation device 100. Based on the filtered motion information corresponding to each joint of the isomorphic body 101 of the teleoperation device 100, it generates reverse motion control instructions for each joint of the isomorphic body 101 of the teleoperation device 100.

[0101] The joint mapping relationship is configured to indicate the spatial mapping relationship of each joint from the space where the isomorphic body 101 of the teleoperation device 100 is located to the space where the controlled structure of the controlled robot 300 is located. The joint mapping relationship includes the position mapping relationship and the posture mapping relationship of each joint.

[0102] For example, the signal filtering algorithm can be a Kalman filter or other filtering algorithms, configured to smooth motion information.

[0103] In some embodiments, the instruction generation module 201 is further configured to perform zero-position calibration on each joint of the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300 before performing joint mapping on the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300.

[0104] In this embodiment, before performing joint mapping on each joint of the isomorphic body 101 of the teleoperation device 100 and each joint of the controlled structure of the controlled robot 300, it is necessary to ensure that the relative error between the actual position and the theoretical position of each joint of the isomorphic body 101 of the teleoperation device 100 at the initial position is as small as possible. Similarly, the relative error between the actual position and the theoretical position of each joint of the controlled structure of the controlled robot 300 at the initial position is also as small as possible. Therefore, it is necessary to perform zero-position calibration on each joint of the isomorphic body 101 of the teleoperation device 100 and each joint of the controlled structure of the controlled robot 300 respectively.

[0105] In some embodiments, after the teleoperation device 100 and the controlled robot 300 are synchronized, zero-position calibration is first performed on each joint of the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300. Specifically, the initial position of the isomorphic body 101 of the teleoperation device 100 is detected, the relative error between the actual position and the theoretical position of the initial position is determined, the relative error is compensated, and the compensated initial position of the isomorphic body 101 of the teleoperation device 100 is determined. Similarly, the initial position of the controlled structure of the controlled robot 300 is detected, the relative error between the actual position and the theoretical position of the initial position is determined, the relative error is compensated, and the compensated initial position of the controlled structure of the controlled robot 300 is determined.

[0106] The robot teleoperation control system provided in the above embodiment filters and maps the motion information of each joint of the isomorphic body 101 of the teleoperation device 100 and the motion information of each joint of the controlled structure of the controlled robot 300 through the instruction generation module 201 of the control device 200. This enables the generated forward motion control commands of each joint to accurately control each joint of the controlled structure of the controlled robot 300, and the reverse motion control commands to accurately control each joint of the isomorphic body 101 of the teleoperation device 100. This improves the control accuracy of robot teleoperation control and reverse control of the teleoperation device, and ensures the accurate movement of the controlled robot and the teleoperation device.

[0107] Furthermore, by performing zero-position calibration on each joint of the isomorphic body 101 of the teleoperation device 100 and the controlled structure of the controlled robot 300 before joint mapping, the accuracy of joint mapping can be better guaranteed.

[0108] In one possible implementation, the instruction generation module 201 is further configured to generate a target control instruction based on the target control signal of the shortcut button 105, and send the target control instruction to the controlled robot according to the type of the target control instruction.

[0109] In one possible implementation, as shown in Figure 1, the control device 200 may further include a hardware driver module 202.

[0110] In some embodiments, the hardware driver module 202 is configured to perform protocol conversion on the forward motion control commands of each joint of the controlled structure of the controlled robot 300 according to the type of the controlled robot 300.

[0111] In this embodiment, in order to adapt to different types of controlled robots 300, a hardware driver module 202 is set in the control device 200. According to the interface type of the controlled robot 300, a corresponding control driver is set in the hardware driver module 202. The control driver performs protocol conversion on the forward motion control commands of each joint of the controlled structure of the controlled robot 300, so that the forward motion control commands of each joint of the controlled structure of the controlled robot 300 meet the control protocol requirements of the controlled robot 300.

[0112] In other embodiments, the hardware driver module 202 is configured to perform protocol conversion on the second motion information of the controlled structure of the controlled robot 300 according to the type of the controlled robot 300.

[0113] In this embodiment, the second motion information sent by different types of controlled robots 300 may have different formats. In order to facilitate the control device 200 to quickly generate reverse motion control instructions based on the second motion information, the control driver set in the hardware driver module 200 performs protocol conversion on the second motion information of the controlled structure of the controlled robot 300, so that the converted second motion information adopts a unified format.

[0114] The robot teleoperation control system provided in the above embodiments performs protocol conversion on the positive motion control commands or second motion information of each joint of the controlled structure of the controlled robot 300 based on the hardware driver module 202 in the control device. This enables the robot teleoperation control system to be adapted to different types of robot devices and can be widely used in robots in different scenarios, with strong system scalability.

[0115] In one possible implementation, as shown in Figure 1, the controlled structure of the controlled robot 300 is provided with a joint module 306.

[0116] The joint module 306 is configured to collect the second motion information of the controlled structure of the controlled robot 300 when the controlled robot 300 executes the automated operation command, and send the second motion information to the control device 200.

[0117] In this embodiment, a joint module 306 is provided on the controlled structure of the controlled robot 300. When the controlled robot 300 executes automated operation instructions, the joint module 306 collects the second motion information of the controlled structure of the controlled robot 300. The second motion information may include at least the joint position information of the controlled structure and may also include the joint force information of the controlled structure. After collecting the second motion information, the joint module 306 sends the second motion information to the control device 200. The control device 200 performs spatial mapping on the motion information of each joint of the controlled structure of the controlled robot 300 according to the spatial mapping relationship of each joint, determines the motion information of each joint of the isomorphic body 101 of the teleoperation device 100, and generates reverse motion control instructions for each joint of the isomorphic body 101 of the teleoperation device 100, and sends the reverse motion control instructions to the teleoperation device 100.

[0118] After receiving the reverse motion control command, the teleoperation device 100 controls each joint of the isomorphic body 100 to move according to the reverse motion control command, so that the isomorphic body 101 of the teleoperation device 100 performs the same actions as the controlled structure of the controlled robot 300 when performing automated operations.

[0119] In some embodiments, the joint module 306 may be a module including an encoder, a force sensor, a controller, and a motor. The encoder is configured to collect position information of each joint of the controlled structure of the controlled robot 300, the force sensor is configured to collect joint force information of each joint of the controlled structure of the controlled robot 300, and the controller is configured to control the motor to rotate according to the forward motion control command during the forward control process, so as to keep the state of each joint of the controlled structure of the controlled robot 300 consistent with the state of each joint of the isomorphic body 101 of the teleoperation device 100.

[0120] In one possible implementation, as shown in Figure 1, the controlled structure of the controlled robot 300 includes a robotic arm 301, and the isomorphic body 101 of the teleoperation device 100 includes an isomorphic robotic arm with the same joint configuration as the robotic arm 301 of the controlled robot 300; the controlled robot 300 also includes an actuator 302 located at the end of the robotic arm 301, and the teleoperation device 100 also includes an execution controller 107 located at the end of the isomorphic robotic arm corresponding to the actuator 302 of the controlled robot 300.

[0121] In some embodiments, the execution controller 107 is configured to generate execution information based on the user's operation on the execution controller 107; the signal driver 103 is further configured to acquire the execution information of the execution controller 107; and the signal transmission module 104 is further configured to send the execution information of the execution controller 107 to the control device 200.

[0122] In the control device 200, the instruction generation module 201 is further configured to generate a first execution control instruction for the actuator 302 of the controlled robot 300 based on the execution information of the execution controller 107 of the remote operation device 100; the hardware driver module 202 is further configured to perform protocol conversion on the first execution control instruction of the actuator 302 of the controlled robot 300 according to the type of the controlled robot 300.

[0123] In the controlled robot 300, the actuator 302 acts according to the first execution control command.

[0124] In this embodiment, in order to simplify the structure of the teleoperation device 100 while ensuring precise control of the controlled robot 300, the teleoperation device 100 only needs a robotic arm with the same joint configuration as the controlled robot 300. For the actuator 302 at the end of the robotic arm 301 of the controlled robot 300, the isomorphic body 101 of the teleoperation device 100 does not need to have the same actuator structure. It only needs to have a controller corresponding to the actuator 302 to control the action of the actuator 302.

[0125] Specifically, the isomorphic body 101 of the teleoperation device 100 is an isomorphic robotic arm with the same joint configuration as the robotic arm 301 of the controlled robot 300. An execution controller 107 corresponding to the execution mechanism 302 at the end of the robotic arm 301 of the controlled robot 300 is provided at the end of the isomorphic robotic arm.

[0126] In this system, the user controls the movement of the isomorphic robotic arm of the teleoperation device 100 to control the movement of the robotic arm 301 of the controlled robot 300. After the robotic arm 301 of the controlled robot 300 moves to the target position through the isomorphic robotic arm of the teleoperation device 100, if it is necessary to control the actuator 302 of the controlled robot 300 to perform operations, the user can input the operation action through the execution controller 107 at the end of the isomorphic robotic arm of the teleoperation device 100 and generate execution information. The signal driver 103 sends the execution information to the control device 200 through the signal transmission module 104. The instruction generation module 201 of the control device 200 generates a first execution control instruction based on the execution information and sends the execution control instruction to the controlled robot 300. The actuator 302 of the controlled robot 300 then performs the action according to the first execution control instruction.

[0127] In other embodiments, in the controlled robot 300, the actuator 302 performs a preset action according to the automated operation instruction and sends the action information of the preset action to the control device 200.

[0128] In the control device 200, the hardware driver module 202 is also configured to perform protocol conversion on the motion information of the preset action according to the type of the controlled robot 300, and the instruction generation module 201 is also configured to generate the second execution control instruction of the execution controller 107 of the remote operation device 100 according to the motion information after protocol conversion.

[0129] In the remote operation device 100, the signal transmission module 104 is further configured to send the second execution control command generated by the control device 200 to the execution controller 107 via the signal driver 103; the execution controller 107 is further configured to execute an operation action corresponding to the preset action of the execution mechanism 302 according to the second execution control command.

[0130] In this embodiment, during the process of reverse control of the remote operation device 100 by the controlled robot 300, the preset actions performed by the actuator 302 at the end of the robotic arm of the controlled robot 300 also need to be synchronized to the execution controller 107 of the remote operation device 100.

[0131] Specifically, based on the user's operation of the execution controller 107 of the remote operation device 100, the controller controls the execution mechanism 302 of the controlled robot 300 to perform actions. In the reverse control process, the control device 200 generates a second execution control command based on the same action performed by the execution mechanism 302 during automatic operation, and sends the second execution control command to the signal transmission module 104. The signal transmission module 104 forwards the second execution control command to the signal driver 103. The signal driver 103 converts the second execution control command into a signal that the execution controller 107 can recognize, so that the execution controller 107 of the remote operation device 100 performs the corresponding operation action according to the signal corresponding to the second execution control command.

[0132] Among them, the hardware driver module 202 can perform protocol conversion on the motion information of the preset actions of the controlled robot 300, and the signal transmission module 104 can send the signal corresponding to the second execution control command to the execution controller 107 through the signal driver 103.

[0133] Furthermore, the execution controller 107 can be an execution button or a lever mechanism. During forward control, the user generates execution information by pressing the execution button or operating the lever mechanism to control the actuator 302 of the controlled robot 300 to perform actions. During reverse control, based on the actions performed by the actuator of the controlled robot 300, the execution button is automatically pressed, or the lever mechanism is automatically operated. The actions performed by the actuator 302 depend on the type of actuator 302.

[0134] For example, the actuator 302 connected to the end of the robotic arm 301 of the controlled robot 300 can be a dexterous hand, a parallel gripper, a suction cup, or other different types of actuators. During forward control, the actuator controller 107 connected to the end of the isomorphic robotic arm of the teleoperation device 100 can control the dexterous hand and the parallel gripper to perform grasping and releasing actions, and control the suction cup to perform suction and release actions. During reverse control, based on the grasping and releasing actions performed by the dexterous hand and the parallel gripper, and the suction cup to perform suction and release actions, the actuator controller 107 connected to the end of the isomorphic robotic arm of the teleoperation device 100 automatically performs the operation actions.

[0135] In some embodiments, the isomorphic robotic arm can be obtained by scaling the robotic arm 301 of the controlled robot 300 according to a certain ratio. If the robotic arm 301 of the controlled robot 300 is a large robotic arm, the robotic arm 301 of the controlled robot 300 can be scaled down to obtain the isomorphic robotic arm. If the robotic arm 301 of the controlled robot 300 is a micro robotic arm, the robotic arm of the controlled robot 300 can be enlarged to obtain the isomorphic robotic arm.

[0136] The robot teleoperation control system provided in the above embodiments includes an isomorphic robotic arm with the same joint configuration as the robotic arm 301 of the controlled robot 300, and an execution controller 107 corresponding to the actuator 302 at the end of the robotic arm 301 of the controlled robot 300. This enables precise control of the movement of the robotic arm 301 of the controlled robot 300 and the operation of the actuator 302 through the isomorphic robotic arm of the teleoperation device 100. Alternatively, it enables precise control of the isomorphic robotic arm and the execution controller 107 of the teleoperation device 100 based on the movement of the robotic arm 301 of the controlled robot 300 and the operation of the actuator 302. The execution controller 107 can be matched with different types of actuators 302, thus having stronger scalability.

[0137] In one possible implementation, as shown in Figure 1, the isomorphic structure module of the teleoperation device 100 may further include: a support member 109, on which the isomorphic robotic arm is mounted, and the mounting angle of the isomorphic robotic arm is the same as the mounting angle of the corresponding robotic arm 301 of the controlled robot 300. The support member 109 can support the isomorphic robotic arm in front of the user.

[0138] For example, Figure 2 is a schematic diagram of the structure of the teleoperation device 100 provided in an embodiment of this disclosure. As shown in Figure 2, the teleoperation device 100 includes: a isomorphic robotic arm 108 and a support member 109. The fixed end of the isomorphic robotic arm 108 is connected to the support member 109, and the support member 109 can fix the isomorphic robotic arm 108 to the front of the user. The isomorphic robotic arm 108 has multiple isomorphic joints with the same joint configuration as the controlled joints of the robotic arm 300 of the controlled robot. A sensor 102 is provided at the connection point of any two connected isomorphic joints. During the forward control process, the sensor 102 is configured to detect the relative position information of the corresponding isomorphic joints. The relative position information is configured to control the movement of each controlled joint of the robotic arm 301 of the controlled robot 300. The user can hold the end of the isomorphic robotic arm 108 and swing the isomorphic robotic arm 108 to make the corresponding isomorphic joints of the isomorphic robotic arm 108 move. During the reverse control process, sensor 102 is configured to control the isomorphic joints of isomorphic robotic arm 108 to perform the same actions as robotic arm 301 of controlled robot 300 according to the reverse motion control command.

[0139] By connecting the fixed end of the isomorphic robotic arm 108 to the support member 109, the isomorphic robotic arm 108 can be fixed to the user's front side, eliminating the need to fix the isomorphic robotic arm 108 to the user's arm, making the fixing of the isomorphic robotic arm 108 more convenient. During use, the user only needs to hold the end of the isomorphic robotic arm 108 and swing the corresponding isomorphic joint to achieve the movement of the isomorphic robotic arm 108, making operation more flexible and convenient.

[0140] Since the isomorphic robotic arm 108 is fixed in front of the user, and the user holds the end of the isomorphic robotic arm 108 to operate it, the length of the isomorphic robotic arm 108 is less than the length of the user's arm, and its volume is small.

[0141] It should be noted that the multiple isomorphic joints of the isomorphic robotic arm 108 of the teleoperation device 100 are of the same configuration as the multiple controlled joints of the robotic arm 301 of the controlled robot 300. For example, if the robotic arm 301 of the controlled robot 300 is a three-degree-of-freedom robotic arm with three controlled joints, the structure of the isomorphic robotic arm 108 of the teleoperation device 100 also has three isomorphic joints. There is a one-to-one correspondence between the three isomorphic joints and the three controlled joints: the controlled joint of the first section corresponds to the isomorphic joint of the first section, the controlled joint of the second section corresponds to the isomorphic joint of the second section, and the controlled joint of the third section corresponds to the isomorphic joint of the third section. When a user operates the isomorphic joint of the first segment of the isomorphic robotic arm 108 of the teleoperation device 100, the first controlled joint of the robotic arm 301 of the controlled robot 300 will also perform the same action. Similarly, when the user operates the isomorphic joint of the second segment of the isomorphic robotic arm 108 of the teleoperation device 100, the second controlled joint of the robotic arm 301 of the controlled robot 300 will also perform the corresponding action. The reverse control process is similar and will not be elaborated here.

[0142] In some embodiments, as shown in FIG2, the teleoperation device 100 further includes a fixing member 110. The fixed end of the isomorphic robotic arm 108 is mounted to the support member 109 via the fixing member 110.

[0143] In this embodiment, the isomorphic robotic arm 108 can be easily fixed by setting a fixing member 110.

[0144] Specifically, the fastener 110 is packaged in a box, and the circuit board of the isomorphic robotic arm 108 is installed inside the fastener 110. The fastener 110 is connected to the support 109 by bolts.

[0145] In this embodiment, both the circuit board and the sensor 102 at the end of the isomorphic robotic arm 108 are housed within the fixing member 110, which saves space and protects the circuit board.

[0146] In this embodiment, sensor 102 is a servo motor, and the relative position information is the relative rotation angle. During forward control, the servo motor can collect the relative rotation angle of two connected isomorphic joints, thereby controlling the rotation of the motor at the corresponding joint of the controlled robot. During reverse control, the servo motor can control the isomorphic joint to rotate accordingly based on the rotation angle at the corresponding joint of the controlled robot.

[0147] For example, Figure 3 is a structural schematic diagram of the support member provided in an embodiment of this disclosure. As shown in Figure 3, the support member 109 includes a base plate 191, a first connecting plate 192, and a second connecting plate 193. The first connecting plate 192 and the second connecting plate 193 are disposed on the base plate 191, and the first connecting plate 192 and the second connecting plate 193 are inclined in a "V" shape. Two fasteners 110 are respectively installed on the first connecting plate 192 and the second connecting plate 193.

[0148] In this embodiment, the first connecting plate 192 and the second connecting plate 193 are inclined and protruded on the base plate 191 in a figure-eight shape. This facilitates the connection of the fixing member 110 and ensures the installation angle of the isomorphic robotic arm 108.

[0149] In some embodiments, as shown in FIG2, the isomorphic robotic arm 108 further includes an execution controller 107. The user controls the actuator 302 of the controlled robot 300 based on the execution controller 107 of the teleoperation device 100, or controls the execution controller 107 of the teleoperation device 100 to perform operational actions according to preset actions of the actuator 302 of the controlled robot 300. The execution controller 107 is disposed at the end of the isomorphic robotic arm 108.

[0150] In this embodiment, the execution controller 107 can be set up to easily control the execution mechanism 302 of the controlled robot 300.

[0151] Specifically, Figure 4 is a schematic diagram of the structure of the execution controller provided in this embodiment. As shown in Figure 3, the execution controller 107 includes a connector 171, a drive member 172, and a rotation sensor 173. The connector 171 is mounted on the end of the isomorphic robotic arm 108, the drive member 172 is rotatably connected to the connector 171, and the rotation sensor 173 is disposed on the connector 171. The rotation sensor 173 is configured to detect whether the drive member 172 rotates relative to the connector 171, and the detection result of the rotation sensor 173 is configured to control the execution mechanism 302 to operate.

[0152] During the reverse control process, based on the preset action executed by the actuator 302, the rotation sensor 173 can control the drive component 172 to rotate based on the second execution control command corresponding to the preset action.

[0153] This embodiment sets the actuator 107 to drive the rotation sensor 173 to rotate in the same way as the drive element 172. This makes it more convenient for the user to operate the actuator 172 by pressing the drive element 172 with their thumb while holding the actuator 107.

[0154] Furthermore, the rotation sensor 173 can also be a servo motor. The drive element 172 is mounted on the input end of the rotation sensor 173. The actuator controller 107 also includes a torsion spring disposed between the drive element 172 and the connector 171, which allows the drive element 172 to reset. When the user does not press the drive element 172, the torsion spring allows the drive element 172 to rotate to its initial position, so the user only needs to press it during operation, and the drive element 172 will automatically reset after being released.

[0155] Secondly, in this embodiment, the connector 171 and the end of the isomorphic robotic arm 108 are integrally formed, that is, the rotation sensor 173 and the drive unit 172 are integrated at the end of the isomorphic robotic arm 108, which can make the overall length of the isomorphic robotic arm 108 shorter.

[0156] In other embodiments of this disclosure, when reverse control is not required, sensor 102 and rotation sensor 173 may also be potentiometers, angle sensors, etc.

[0157] In some embodiments, the controlled robot has two robotic arms, as shown in FIG2. The two isomorphic robotic arms 108 are also two, and the two isomorphic robotic arms 108 are mounted on both sides of the support member 109 by corresponding fasteners 110.

[0158] This embodiment sets up two isomorphic robotic arms 108, so that the user can use both hands to control the movements of the two robotic arms of the controlled robot at the same time, making the operation more convenient.

[0159] In this embodiment, the two robotic arms of the controlled robot are mounted on both sides of the robot's torso. The two isomorphic robotic arms 108 are mounted on both sides of the support member 109 via fixing members 110 located at the fixed ends.

[0160] Furthermore, the mounting angles of the two isomorphic robotic arms 108 are the same as the mounting angles of the two robotic arms of the controlled robot.

[0161] In this embodiment, the mounting angles of the two isomorphic robotic arms 108 are the same as the mounting angles of the two robotic arms of the controlled robot, which can improve control accuracy.

[0162] It should be noted that the same mounting angle of the two isomorphic robotic arms 108 as the same mounting angle of the two robotic arms of the controlled robot means that the mounting angle of the two robotic arms of the controlled robot relative to the robot's torso is the same as the mounting angle of the two isomorphic robotic arms 108 relative to the fixed component.

[0163] The robot teleoperation control system provided in the above embodiments connects the fixed end of the isomorphic robotic arm to a support member, which then fixes the isomorphic robotic arm to the user's front side. This eliminates the need to fix the isomorphic robotic arm to the user's arm, making the fixation of the isomorphic robotic arm more convenient. During use, the user only needs to hold the end of the isomorphic robotic arm and swing the corresponding joint to achieve the robotic arm's movement, making operation more convenient and flexible.

[0164] In one possible implementation, as shown in Figure 1, the teleoperation device 100 also includes a fixed mounting structure 111 detachably connected to the support member 109. The isomorphic robotic arm is mounted on the operating plane through the detachable fixed mounting structure 111, allowing the user to hold the end of the isomorphic robotic arm and swing it.

[0165] In this embodiment, to adapt to different operational needs of the remote control device, a detachable fixed mounting structure 111 is designed for the remote control device 100. The fixed mounting structure 111 is detachably mounted on the support member 109. The fixed mounting structure 111 can fix the support member 109 to the operating plane, so that the isomorphic robotic arm 108 can be mounted on the operating plane. The user stands next to the operating plane, with the support member 109 and the isomorphic robotic arm 108 located in front of the user to operate the isomorphic robotic arm 108. In addition, the isomorphic robotic arm can also be removed from the operating plane, realizing flexible setting of the isomorphic robotic arm installation position.

[0166] After the isomorphic robotic arm is mounted on the operating plane, the user can hold the end of the isomorphic robotic arm and swing it to make the various joints of the isomorphic robotic arm move, and the sensors will obtain the corresponding motion information.

[0167] In some embodiments, the fixed mounting structure 111 is provided with threaded holes, and the fixed mounting structure 111 can be directly fixed to the operating table by means of bolts passing through the threaded holes. This provides greater stability and makes operation easier.

[0168] For example, Figure 5 is a schematic diagram of the assembly of the support member and the fixed installation structure provided in the embodiment of this disclosure. As shown in Figure 5, the fixed installation structure 111 is provided with a buckle 112, and the support member 109 is detachably installed on the fixed installation structure 111 through the buckle 112.

[0169] Specifically, there are multiple buckles 112, and the buckle bodies of the multiple buckles 112 are respectively fixed to both sides of the fixed mounting structure 111 by screws, while the support member 109 is provided with hooks corresponding to the positions of the buckle bodies. The support member 109 and the fixed mounting structure 111 can be detachably connected by fastening the buckle bodies to the hooks.

[0170] By providing a buckle 112 on the fixed installation structure 111, the support member 109 and the fixed installation structure 111 can be easily fixed together, and the support member 109 can also be easily separated from the fixed installation structure 111, which facilitates quick assembly and disassembly when different methods are selected.

[0171] Of course, in other embodiments of this disclosure, the detachable connection between the support member 109 and the fixed mounting structure 111 can also be achieved in other ways. For example, quick-release, snap-fit, etc.

[0172] In some embodiments, as shown in FIG5, the first connecting plate 192 and the second connecting plate 193 each have an abutment boss 194 on their opposite sides. The fixed mounting structure 111 has support bosses protruding outwards on both sides. When the support member 109 is installed on the fixed mounting structure 111, the top of the fixed mounting structure 111 abuts against the abutment boss 194 and is engaged between the first connecting plate 192 and the second connecting plate 193. The bottom ends of the first connecting plate 192 and the second connecting plate 193 are supported on the support bosses, thereby achieving an inner and outer fit to prevent relative displacement.

[0173] The fixed installation structure 111 is provided with a positioning protrusion, and the support member 109 is provided with a positioning groove 195, and the positioning protrusion can be inserted into the positioning groove 195.

[0174] In this embodiment, the positioning protrusion and the positioning groove 195 are engaged to achieve positioning between the two during assembly and to prevent relative sliding between them.

[0175] Specifically, the positioning boss protrudes from the top of the fixed installation structure 111, while the positioning groove 195 is provided on the abutment boss 194. During assembly, the abutment boss 194 can be easily inserted into the positioning groove 195 by moving it from top to bottom.

[0176] In another possible implementation, as shown in Figure 1, the teleoperation device also includes a wearable structure 113 detachable from the support 109, through which the isomorphic robotic arm 108 is worn on the user's chest, and the user can hold the end of the isomorphic robotic arm 108 and swing it.

[0177] Specifically, the support member 109 is detachably mounted on the wearable structure 113, which can fix the support member 109 to the user's chest.

[0178] In this embodiment, by setting up a wearable structure 113 and detachably connecting the support member 109 to the wearable structure 113, the user can wear the wearable structure 113 on their body and use their body to support the weight of the remote control device 100. In this way, the operator only needs to operate the isomorphic robotic arm 108 with both hands, making it more convenient to use.

[0179] It should be noted that the wearable structure 113 of the teleoperation device provided in this embodiment only provides support and fixation for the support member 109 to fix the isomorphic robotic arm 108 to the front of the user for easy operation. The joints of the isomorphic robotic arm 108 do not need to be fixed to the corresponding parts of the user's arm. During operation, the user only needs to hold the end of the isomorphic robotic arm 108 and swing it to control the actions of the controlled robot 300. Existing wearable control devices are generally worn on the back of the operator and their corresponding parts are attached to the outside of the user's arm using straps, clamps, or other structures in the form of an exoskeleton. Control is achieved by moving different parts of the arm, which requires the controller to be relatively long, at least longer than the user's arm, and requires additional fixing components, resulting in a larger size and weight. Furthermore, with the controller fixed to the outside of the arm, the limited rotation angle between the upper arm and shoulder, and between the forearm and upper arm, restricts the movement of existing controllers. In contrast to the isomorphic robotic arm 108 in this disclosure, which is not fixed to the user's arm and is located in front of the user and inside the arm, the user swings the end of the isomorphic robotic arm 108 to make the corresponding joints of the isomorphic robotic arm 108 swing. In this way, the rotation of any two connected joints of the isomorphic robotic arm 108 is not limited by the rotation angle of the arm, and the rotation angle can be larger.

[0180] In some embodiments, FIG6 is a first structural schematic diagram of the wearable structure provided in the present disclosure, and FIG7 is a second structural schematic diagram of the wearable structure provided in the present disclosure. As shown in FIG6 and FIG7, the wearable structure 113 includes: a wearable component 131 and a fixing component 132.

[0181] The fixing component 132 is detachably mounted on the front of the wearable component 131. The fixed end of the isomorphic robotic arm 108 is connected to the fixing component 132 through the support member 109. When the user wears the wearable component 131, the fixing component 132 is located in front of the user's chest, and the isomorphic robotic arm 108 is located on the inside of the user's arm and moves with the user's arm movements.

[0182] In this embodiment, by providing a fixing component 132 on the front of the wearable component 131, the base plate 191 of the support member 109 is detachably mounted on the fixing component 132. The fixing component 132 can form an installation plane, thereby allowing for better installation of the support member 109. Furthermore, the fixing component 132 can also better bear weight and facilitate installation.

[0183] In this embodiment, the wearable component 131 is a wearable shoulder strap, and the fixing component 132 is disposed on the front of the wearable shoulder strap.

[0184] In this embodiment, the wearable component 131 is configured as a wearable shoulder strap, which makes it easier for the user to wear and provides a wider range of size adjustment, thus increasing its applicability. The wearable shoulder strap can be placed around the user's torso to support the mass of the isomorphic robotic arm 108.

[0185] Of course, in other embodiments of this disclosure, the wearable component 131 may also be other types of structures such as straps, as long as it can fix the control arm 130 to the user's chest.

[0186] The support member 109 and the fixing component 132 are detachably connected by bolts. Of course, in some other embodiments of this disclosure, the support member 109 and the fixing component 132 can also be detachably connected by means of snap-fit ​​or other means.

[0187] The robot teleoperation control system provided in the above embodiments sets the teleoperation device as a wearable structure, which is convenient for users to wear. The wearable device is placed on the front of the user's body. On the one hand, the user can receive the instructions of the isomorphic robotic arm, and on the other hand, the user can operate the isomorphic robotic arm. It is more flexible and the user can control the controlled robot from any location.

[0188] Furthermore, the robot teleoperation control system provided in the above embodiments offers two usage methods: one is to fix it to the user's chest via a wearable structure, and the other is to fix it to the operating table via a fixed installation structure. Both the wearable structure and the fixed installation structure are detachable, allowing for flexible selection of the usage method according to usage needs, making it more convenient to use.

[0189] In one possible implementation, the controlled structure of the controlled robot 300 includes at least one of a head 303, a torso 304, a robotic arm 301, an actuator 302, and a movement mechanism 305.

[0190] In this embodiment, if the head 303 of the controlled robot 300 is equipped with a detection module, such as radar or camera, the head 303 of the controlled robot 300 can also be used as a controlled structure. The remote operation device has a sensor corresponding to the head 303 of the controlled robot 300. By placing the sensor on the user's head, the user's head movements can be used to control the head 303 of the controlled robot 300 to perform actions.

[0191] Similarly, the torso 304 of the controlled robot 300 can also be used as the controlled structure. According to the action to be performed by the torso 304 of the controlled robot 300, the corresponding structure or sensor is set in the remote operation device 100.

[0192] The robotic arm 301 and the actuator 302 of the controlled robot 300 are specific implementations of the controlled structure as described above, and will not be repeated here.

[0193] If it is necessary to control the movement of the controlled robot 300, the movement mechanism 305 of the controlled robot 300 can also be used as the controlled structure. The remote operation device 100 also needs to be equipped with a corresponding structure or sensor. For example, the movement of the isomorphic structure of the remote operation device 100 can be detected by a sensor set on the isomorphic structure corresponding to the movement mechanism of the remote operation device 100, or the movement of the user's leg can be detected by a sensor set on the user's leg, so as to control the movement of the movement mechanism 305 of the controlled robot 300 to move the controlled robot 300.

[0194] The robot teleoperation control system provided in the above embodiments can control robots with different structures and types, has strong scalability, and a wide range of applications.

[0195] Based on the robot teleoperation control system provided in the above embodiments, this disclosure also provides a robot teleoperation control method, applied to the control device in the robot teleoperation control system. Figure 8 is a flowchart illustrating the robot teleoperation control method provided in this disclosure. As shown in Figure 8, the method may include:

[0196] S401. Receive motion information sent by a remotely operated device or a controlled robot. The motion information of the remotely operated device is generated based on the operation actions of the isomorphic body, and the motion information of the controlled robot is generated based on the automated operation actions of the controlled structure of the controlled robot.

[0197] S402. Based on the motion information, generate motion commands according to the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot.

[0198] S403. Send motion commands to the device with corresponding motion information so that the isomorphic body of the teleoperated device and the controlled structure of the controlled robot perform the same actions.

[0199] In this embodiment, during the process of the teleoperation device controlling the controlled robot, the user operates the isomorphic body of the teleoperation device to perform operation actions and generate motion information. The control device receives the action information sent by the teleoperation device and generates motion commands based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot. The control device sends the motion commands to the controlled robot so that the controlled robot controls the controlled structure to perform the same actions as the isomorphic body of the teleoperation device according to the motion commands.

[0200] When the controlled robot operates autonomously without being controlled by the teleoperation device, the controlled robot sends motion information to the control device. The control device generates motion commands based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, and sends the motion commands to the teleoperation device so that the teleoperation device controls the isomorphic body to perform the same actions as the controlled structure of the controlled robot according to the motion commands.

[0201] The robot teleoperation control method provided in the above embodiments is designed with a two-way control system. It can not only control the controlled robot through the teleoperation device, but also control the teleoperation device through the controlled robot. In order to ensure that the teleoperation device can maintain the same action as the controlled robot during the execution of automated operations, the user can directly intervene in the action of the controlled robot through the teleoperation device in case of unexpected situations, so as to ensure the safety of the operation.

[0202] In one possible implementation, the process of receiving motion information sent by the remotely operated device or the controlled robot in step S401 may include:

[0203] Receive first motion information sent by the remotely operated device. The first motion information is generated based on the user's operation actions on the isomorphic body of the remotely operated device.

[0204] The process described above, S402, which generates motion commands based on motion information and the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, and sends the motion commands to the device with the corresponding motion information, may include:

[0205] Based on the first motion information, and based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, a forward motion control command is generated and sent to the controlled robot. The forward motion control command is configured to instruct the controlled robot to perform the same action as the operation action of the isomorphic body of the teleoperation device.

[0206] In this embodiment, when it is necessary to control the robot to perform actions, the user can control the isomorphic body of the teleoperation device to perform operation actions. The teleoperation device collects the first motion information of each joint of the isomorphic body and sends it to the control device.

[0207] After receiving the first motion information of each joint of the isomorphic body, the control device generates positive motion control commands for each joint of the controlled structure of the controlled robot according to the spatial mapping relationship of each joint, and sends the positive motion control commands for each joint of the controlled structure of the controlled robot to the controlled robot.

[0208] After receiving the forward motion control commands from each joint, the controlled robot moves according to the corresponding forward motion control commands, so that the controlled structure of the robot performs the same actions as the user performs through the isomorphic body.

[0209] The robot teleoperation control method provided in the above embodiments designs a teleoperation device with the same joint configuration as the controlled structure of the robot. This allows the robot to be controlled directly through the joint mapping relationship between the isomorphic device and the controlled structure, enabling joint-to-joint motion control without the need for kinematic calculations. Joint-to-joint motion control improves the control accuracy of robot teleoperation control and ensures the accuracy of the robot's movements.

[0210] In another possible implementation, the process of receiving motion information sent by the teleoperated device or the controlled robot in step S401 may include:

[0211] The system receives second motion information of the controlled structure of the controlled robot from the joint module of the controlled robot. The joint module is located at the controlled structure of the controlled robot and is configured to collect joint information when the controlled robot executes automated operation instructions.

[0212] The process described above, S402, which generates motion commands based on motion information and the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, and sends the motion commands to the device with the corresponding motion information, may include:

[0213] Based on the second motion information, and based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, a reverse motion control command for the teleoperation device is generated and sent to the servo actuator. The reverse motion control command is configured to instruct the isomorphic body of the teleoperation device to perform the same action as the controlled structure of the controlled robot.

[0214] In this embodiment, a joint module is provided on the controlled structure of the controlled robot. When the controlled robot executes automated operation instructions, the joint module collects the second motion information of the controlled structure of the controlled robot. The second motion information may include at least the joint position information of the controlled structure and may also include the joint force information of the controlled structure. After collecting the second motion information, the joint module sends the second motion information to the control device. The control device performs spatial mapping on the motion information of each joint of the controlled structure of the controlled robot according to the spatial mapping relationship of each joint, determines the motion information of each joint of the isomorphic body of the teleoperation device, and generates reverse motion control instructions for each joint of the isomorphic body of the teleoperation device, and sends the reverse motion control instructions to the teleoperation device.

[0215] After receiving the reverse motion control command, the teleoperated device controls each joint of the isomorphic body to move according to the reverse motion control command, so that the isomorphic body of the teleoperated device performs the same actions as the controlled structure of the controlled robot when performing automated operations.

[0216] The robot teleoperation control system provided in the above embodiments designs a teleoperation device with the same joint configuration as the controlled robot, enabling the controlled robot to control the teleoperation device in reverse. This allows the teleoperation device to maintain the same movements as the controlled robot during automated operations. In this way, in case of unexpected situations, the user can directly intervene in the controlled robot's movements through the teleoperation device, ensuring the safety of the operation.

[0217] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims. Industrial applicability

[0218] By adopting the above scheme, by designing a teleoperation device with the same joint configuration as the controlled structure of the controlled robot, when the teleoperation device controls the controlled robot or the controlled robot controls the teleoperation device, motion control can be performed directly through the joint mapping relationship between the isomorphic body and the controlled structure in a joint-to-joint manner, without the need for kinematic calculations. Joint-to-joint motion control can improve the control accuracy of robot teleoperation control and teleoperation device reverse control, and ensure the accurate movement of the controlled robot and the teleoperation device.

Claims

1. A robot teleoperation control system, characterized in that, include: The remote operating device, the control device, and the controlled robot are provided. The remote operating device includes an isomorphic body with the same joint configuration as the controlled structure of the controlled robot. The remote operating device is communicatively connected to the control device, and the control device is communicatively connected to the controlled robot. The control device is configured to receive motion information sent by the teleoperation device or the controlled robot, and generate motion commands based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot; wherein, the motion information of the teleoperation device is generated according to the operation action of the isomorphic body, and the motion information of the controlled robot is generated according to the automated operation action of the controlled structure of the controlled robot. The control device is further configured to send the motion command to the device with the motion information, so that the isomorphic body of the teleoperation device and the controlled structure of the controlled robot perform the same action.

2. The robot teleoperation control system according to claim 1, characterized in that, The remote operation device is configured to generate first motion information based on the user's operation actions on the isomorphic body, and send the first motion information to the control device. The control device is configured to generate a forward motion control command for the controlled robot based on the first motion information and the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, and to send the forward motion control command to the controlled robot. The controlled robot is configured to control the controlled structure to perform the same actions as the isomorphic body actions of the teleoperation device according to the forward motion control command.

3. The robot teleoperation control system according to claim 2, characterized in that, The controlled robot is configured to collect second motion information of the controlled structure when executing automated operation instructions, and send the second motion information to the control device. The control device is configured to generate a reverse motion control command for the teleoperation device based on the second motion information and the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, and to send the reverse motion control command to the teleoperation device. The teleoperation device is configured to control the isomorphic body to perform the same actions as the controlled structure actions of the controlled robot according to the reverse motion control command.

4. The robot teleoperation control system according to claim 2 or 3, characterized in that, The remote operation device also includes sensors, signal drivers, and signal transmission modules; The sensor is configured to detect the movement of each joint of the isomorphic body and generate first motion information of each joint of the isomorphic body. The signal driver is configured to acquire first motion information of each joint of the isomorphic body; The signal transmission module is configured to send the first motion information of each joint of the isomorphic body to the control device.

5. The robot teleoperation control system according to claim 4, characterized in that, The signal transmission module is further configured to receive the reverse motion control command sent by the control device, and send the reverse motion control command to the sensor through the signal driver; The sensor is also configured to control the isomorphic body to perform the same actions as the controlled structure actions of the controlled robot according to the reverse motion control command.

6. The robot teleoperation control system according to claim 4, characterized in that, The control device includes an instruction generation module; The instruction generation module is configured to filter the first motion information of each joint of the isomorphic body of the teleoperation device. Based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, joint mapping is performed on the isomorphic body of the teleoperation device and the controlled structure of the controlled robot to determine the filtered motion information corresponding to each joint of the controlled structure of the controlled robot. Based on the filtered motion information corresponding to each joint of the controlled structure of the controlled robot, positive motion control commands for each joint of the controlled structure of the controlled robot are generated. or, The instruction generation module is configured to filter the second motion information of each joint of the controlled structure of the controlled robot; Based on the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot, joint mapping is performed on the isomorphic body of the teleoperation device and the controlled structure of the controlled robot to determine the filtered motion information corresponding to each joint of the isomorphic body of the teleoperation device. Based on the filtered motion information corresponding to each joint of the isomorphic body of the teleoperation device, reverse motion control commands for each joint of the isomorphic body of the teleoperation device are generated.

7. The robot teleoperation control system according to claim 6, characterized in that, The instruction generation module is further configured to perform zero-position calibration on each joint of the isomorphic body of the teleoperation device and the controlled structure of the controlled robot before performing joint mapping on the isomorphic body of the teleoperation device and the controlled structure of the controlled robot.

8. The robot teleoperation control system according to claim 6, characterized in that, The control device also includes a hardware driver module; The hardware driver module is configured to perform protocol conversion on the forward motion control commands of each joint of the controlled structure of the controlled robot according to the type of the controlled robot. or, The hardware driver module is configured to perform protocol conversion on the second motion information of the controlled structure of the controlled robot according to the type of the controlled robot.

9. The robot teleoperation control system as described in claim 3, characterized in that, The controlled structure of the controlled robot is equipped with joint modules; The joint module is configured to collect second motion information of the controlled structure when the controlled robot executes automated operation instructions, and send the second motion information to the control device.

10. The robot teleoperation control system according to claim 8, characterized in that, The controlled structure of the controlled robot includes a robotic arm, and the isomorphic body of the teleoperation device includes an isomorphic robotic arm with the same joint configuration as the robotic arm of the controlled robot. The controlled robot also includes an actuator located at the end of the robotic arm, and the teleoperation device also includes an execution controller located at the end of the isomorphic robotic arm that corresponds to the actuator of the controlled robot. The execution controller is configured to generate execution information based on the user's operation on the execution controller; the signal driver is further configured to collect the execution information of the execution controller; the signal transmission module is further configured to send the execution information of the execution controller to the control device. In the control device, the instruction generation module is further configured to generate a first execution control instruction for the actuator of the controlled robot based on the execution information of the execution controller of the teleoperation device; the hardware driver module is further configured to perform protocol conversion on the first execution control instruction of the actuator of the controlled robot based on the type of the controlled robot. In the controlled robot, the actuator operates according to the first execution control command.

11. The robot teleoperation control system as described in claim 10, characterized in that, In the controlled robot, the actuator performs a preset action according to the automated operation instruction and sends the action information of the preset action to the control device; In the control device, the hardware driver module is further configured to perform protocol conversion on the motion information of the preset action according to the type of the controlled robot; the instruction generation module is further configured to generate a second execution control instruction for the execution controller of the teleoperation device according to the protocol-converted motion information. In the remote operation device, the signal transmission module is further configured to send the second execution control command generated by the control device to the execution controller through the signal driver; the execution controller performs an operation action corresponding to the preset action of the execution mechanism according to the second execution control command.

12. A method for remotely controlling a robot, characterized in that, The method, applied to the control device in the robot teleoperation control system according to any one of claims 1-11, comprises: The system receives motion information sent by the teleoperation device or the controlled robot. The motion information of the teleoperation device is generated based on the operation actions of the isomorphic body, and the motion information of the controlled robot is generated based on the automated operation actions of the controlled structure of the controlled robot. Based on the motion information, motion commands are generated according to the joint mapping relationship between the isomorphic body of the teleoperation device and the controlled structure of the controlled robot. The motion command is sent to the device corresponding to the motion information so that the isomorphic body of the teleoperation device and the controlled structure of the controlled robot perform the same action.

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