70 results about "Robot teleoperation" patented technology

The invention relates to a robot teleoperation system control technology, and discloses a non-linear teleoperation system position and force tracking and controlling system with time-varying delay aiming to solve the problem of position errors and force errors, caused by transmission delay of position signals and force signals of a driving robot and driven robot, between the driving robot and the driven robot, wherein the transmission delay is generated by time-varying delay of a non-linear teleoperation system. By means of the non-linear teleoperation system position and force tracking and controlling system, system tracking performance is improved, and system stability is guaranteed. According to the technical scheme, the non-linear teleoperation system position and force tracking and controlling system with time-varying delay comprises an operator module, a driving robot controller, the driving robot, a communication channel, a driven robot controller, a driven robot and an environment module. By means of the non-linear teleoperation system position and force tracking and controlling system, the problem of transmission delay, generated through time-varying delay of the non-linear teleoperation system, of the position signals and force signals of the driving robot and driven robot can be effectively solved, and system position and force tracking accuracy is improved.

The invention discloses a space robot teleoperation system based on three-dimensional gestures. The space robot teleoperation system comprises a gesture interaction sub-system, a predication simulation sub-system and an information management sub-system, wherein the gesture interaction sub-system is used for collecting and preprocessing human gesture information through gesture collecting equipment; the prediction simulation sub-system is connected with the gesture interaction sub-system, and is used for checking the legality of a teleoperation command sent from the gesture interaction sub-system, monitoring the current status data of a space robot, predicting the next status of the space robot through dynamical simulation and carrying out three-dimensional real-time display on the prediction status and current status of the space robot through a three-dimensional display module; the information management sub-system is connected with the prediction simulation sub-system, and uploading of the teleoperation command and downloading of monitoring status data are realized through communication between a ground station and the space robot. By using the system, the space robot can be accurately controlled to complete a series of tasks such as on-orbit maintenance, on-orbit module replacement and on-orbit fuel adding in real time.

An object of the invention is to provide a remote control system for robot in which a remotely controlled robot apparatus is capable of carrying out skillful movement and movement for removing a heavy load. A robot remote control apparatus 1 includes a remote instruction unit 4 for generating control data for the robot apparatus 2, a first computer unit for inputting and processing the control data, and a first mobile transmission unit for transmitting the control data to a base station 19 connected to a public transmission network 20; the robot apparatus 2 includes a second mobile transmission unit for receiving the control data transmitted from the base station 21 connected to the public transmission network 20 and a second computer unit for processing the control data and controlling a mechanism portion 10; the mechanism portion includes one or two heavy-load working arms, one or two light-load working arms, and a traveling system, all of which are controlled by the second computer unit; and the second computer unit controls the one or two heavy-load working arms, the one or two light-load working arms and the traveling system on the basis of the control data for the robot apparatus 2.

The invention discloses a robot remote control system and a robot remote control method. The robot remote control system comprises an obtaining module, a processing module, a signal emitter, a signal receiver and a robot, wherein the obtaining module is used for monitoring the sensor signal value in real time, and obtaining the signal data if the signal value changes; the processing module is used for receiving the signal data sent by the obtaining module, processing the signal data according to preset application logic and converting the signal data into a corresponding control order; the signal emitter is used for a control order sent by the processing module through an interface of mobile terminal equipment and a equipment interface adapter; the signal receiver is used for receiving the control order sent by the signal emitter; the robot is connected with the signal receiver and used for receiving the control order sent by the signal receiver, and performing the control order. The method can be used for enabling the robot remote control equipment to be standard and unified, can be suitable for various mobile terminal equipment, used for reducing the remote equipment production cost, reducing the quantity of equipment under a multi-robot environment, and improving the operation convenience.

The invention discloses a smart phone based remote control system and method of an automatic ground cleaning robot. Control application software is installed on a smart phone provided with a bluetooth module, and a bluetooth module is arranged on the automatic ground cleaning robot, so that the automatic ground cleaning robot is controlled remotely through the bluetooth technology. Thus, a special remote controller is omitted, cost is saved effectively, and the cleaning robot can be controlled remotely and flexibly. Moreover, a user can control the automatic ground cleaning robot under a visual interface, and more powerful function applications can be added for the user to control the robot.

The invention provides a robot teleoperation system and method based on electromagnetic force feedback and augmented reality. The system comprises a natural control module and a natural feedback module. After fusing gesture text and voice text of an operator, the natural control module extracts a robot control instruction through an inference method to guide a virtual robot in moving, and a true remote robot copies movement of the virtual robot based on data sent by the internet. The natural feedback module comprises electromagnetic force feedback and vision feedback, through the electromagnetic force feedback, the operator can sense the force of the robot, and through the vision feedback, the operator can obverse the virtual robot in any direction. The system is adopted for remotely operating the robot, the stress condition and task execution process of the robot can be sensed in real time, the high immersion sense is achieved, the operation efficiency and accuracy are improved, and the system and method are suitable for non-professional operators and have universality, operability and a wide application range.

The invention discloses a macro-micro robot remote welding method for pipeline maintenance in an extreme environment. The method comprises the following steps: achieving autonomous rapid connection between a macro robot and a micro robot through a tool conversion interface and a pneumatic clamping module; arranging a six-dimensional force sensor between the macro robot and the micro robot to make the macro-micro robot have active compliance during the remote operation; compensating for the gravity of the micro robot to achieve pipeline grabbing and assembly in the distal environment according to the pipeline self-adaptive assembly strategy; and achieving remote welding with controllable welding quality by arc voltage sensing control. The method can achieve grabbing and assembly of pipelines with different attitudes in various complex environments so as to greatly save the preparation time before welding and improve the assembly accuracy. The micro robot has light weight, is easy in grabbing and flexible in operation and can adopt program control to be suitable for welding seams with different forms and shapes. Additionally, an arc voltage sensor system is arranged to achieve controllable welding and improve the welding quality.

The invention discloses a motion mapping method based on a CyberForce teleoperation mechanical arm, belongs to the technical field of robot teleoperation, and aims to solve the problem that the control mapping effect of a conventional control method for robot astronauts is poor as working spaces of the mechanical arm and human arms are inconsistent. The motion mapping method comprises the steps that a motion space of the mechanical arm is divided into a free moving space and a fine operation space; bulges are utilized to represent an outer contour of a reachable working space in a corresponding space; in a bulge outer contour of the free moving space, the position is controlled through set zoom factor mapping and the posture is controlled through posture adjustment mapping according to thereachable working space of the mechanical arm; and in a bulge outer contour of the fine operation space, the position is controlled through variable zoom factor mapping and the posture is controlledthrough posture adjustment mapping according to a set posture space of the mechanical arm. The motion mapping method is used for control of the position and posture of the tail end of the mechanical arm.

The invention discloses a dual-arm robot teleoperation control system shared by two persons. By establishing a double-hand sharing operating module, operation mapping between both hands of two main hands and a robot is achieved; and then a main manipulator and an auxiliary manipulator are divided, and a main operating arm and an auxiliary operating arm are distinguished in the operating process of the main manipulator, so that operation assisting of the main manipulator is achieved. Meanwhile, the situations such as collision and misoperation of the auxiliary operating arm in the operating process of the main manipulator can be avoided, and thus barrier avoidance and double-hand fine teleoperation are achieved.

There is provided a remote control system including a controlled device and a remote device. The controlled device has a light source and moves according to a control signal from the remote device. The remote device is adapted to be operated by a user and includes an image sensor. The remote device determines a moving direction of the controlled device according to an imaging position of the light source in the image captured by the image sensor and a pointing position of the user, and outputs the control signal.

The invention discloses a water-jet intelligent robot, and belongs to the technical field of engineering machines. The water-jet intelligent robot comprises a pumping station container, a water pipe, an intelligent moving robot, a high-pressure injection rack and suction force recycling device, a remote multi-information exchanging console and a moving robot control system. A robot remote control emitter, an ultrahigh pressure pumping station control console, a video display, a wireless communication module and a robot information display are arranged inside the remote multi-information exchanging console. The moving robot control system comprises a robot remote control receiver, a controller, a robot posture state sensing system, a PTZ camera and a wireless communication module. The intelligent moving robot comprises a travelling chassis, a hydraulic wrist, hydraulic supporting legs, an intelligent robot rotary table and a swing device. By means of the water-jet intelligent robot, noise and dust generated in the forcible entry process can be collected into a confined space, noise disturbing and dust disorderliness are avoided, rubbish caused in the forcible entry process can be treated, and local repair peeling work is achieved.

The invention discloses a four-channel teleoperation force feedback control method under hysteresis non-linearity limitation, and relates to the technical field of robot teleoperation system control.The four-channel teleoperation force feedback control method comprises the steps that a teleoperation system dynamic model under hysteresis non-linearity limitation is established; a master robot anda slave robot are selected and connected through a network to form a teleoperation system, and system parameters are measured separately; the mechanical arm position information of the master robot and the slave robot are measured in real time, and approximate force estimation is carried out on the applied force; an observed value of the force estimation is fed back into controller design; a four-channel wave variable communication channel under the time-varying delay is designed; and a four-channel bilateral controller is designed through the time domain passive control and an adaptive control method. According to the method, the passive property of the communication channel under the time-varying delay situation is guaranteed, very high tracking performance is achieved, the problem thatthe estimated capacity is limited and the estimation speed is slow of an existing force observer is solved, the demand on a force sensor is eliminated, and the hardware cost of the system is reduced.

The invention discloses a competitive network robot game-playing system, which can solve the problem of transmission time delay existing in the prior robot teleoperation system and technical problems that a remote teleoperation robot fails to be provided with flexible control modes, three-dimensional real-time simulation, and visual servo in game playing and so on, enssures the concrete implementation of robot game playing, and makes a user flexibly finish the game-playing process. Compared with the prior robot teleoperation system, the invention adopts a novel system construction mode and game-playing mechanism; and the robot game-playing control system is a distributed hierarchical real-time control system constructed on a controller area network (CAN) bus and an INTERNET network, adopts an advanced control method and three-dimensional real-time simulation technology, realizes the free switching between visual servo and non-visual servo at a client, and ensures that a gamer can realize the game-playing strategy and perform the game-playing behavior more leisurely.

The invention discloses a mobile robot remote control method and device, a storage medium and a remote control terminal. The mobile robot has the function of identifying the geomagnetic direction of acurrent use environment, and the mobile robot remote control method comprises the steps: obtaining the geomagnetic direction information of the current use environment, and displaying a remote control icon with the indication direction consistent with the geomagnetic direction according to the geomagnetic direction information, wherein the geomagnetic direction information is used for determiningthe geomagnetic direction; receiving a target direction instruction triggered by the user for the remote control icon, and sending the target direction instruction to the mobile robot, so that the mobile robot moves in the target direction according to the target direction instruction. According to the mobile robot remote control method, the problems that in the prior art, when a mobile robot isremotely controlled manually, control is inconvenient, and the mobile robot is prone to being unlistened to call can be solved.

The invention belongs to the technical field of robot teleoperation control, and discloses a remote operation system position and speed synchronization control method for heterogeneous robots. The method mainly includes steps of applying a force fh to cause a master robot to generate position information xmaster and position change amount; transmitting the position information xmaster and the position change amount of the master robot to an slave robot through a communication network; causing the slave robot to move and generate position information xslave; controlling the position informationxslave of the slave robot through the position information xmaster of the master robot, to achieve position synchronization of the master robot and the slave robot; and controlling a speed Vs of theslave robot by the position change amount of the master robot, to achieve speed synchronization of the master robot and the slave robot. The position movement of the slave robot in a three-dimensionaltask space is controlled by the position information of the master robot, and the speed change of the lave robot in the three-dimensional task space is controlled by the position change amount of themaster robot in the process, so that the position and speed of the slave robot are kept synchronized with the position and speed of the master robot.

The invention belongs to the technical field of foot type robot teleoperation. The invention discloses a shared factor fuzzy inference device applied to a hexapod robot. The problem that instability is prone to occurring when a multi-pod robot executes a special task on a complex terrain is solved. The shared factor fuzzy inference device applied to the hexapod robot designs a two-dimensional teleoperation system capable of realizing cooperative control of shared characteristics on the basis of a speed-pose cooperative teleoperation system. The stability condition of the multi-pod robot is analyzed through a stability margin criterion, and a sharing factor alpha is generated through a fuzzy inference system to distribute control weights for the teleoperation subsystem; control errors and control requirements of the multi-pod robot are combined through a main end controller, and the control errors and the control requirements are fed back to an operator in a tactile guiding force mode.The method can effectively solve the problem that the multi-pod robot is prone to questioning under the rugged terrain, and the working pressure of an operator is reduced while the transparency of thesystem is guaranteed.

The invention relates to a communication system for enhancing a remote control distance of a robot. The communication system comprises a robot, a control terminal and an unmanned aerial vehicle, wherein relay stations are arranged between the robot and the control terminal; a pipeline is arranged between the robot and the control terminal; the relay stations are distributed on the pipeline at intervals, are arranged on the robot, and are arranged on a driving path of the robot through a placement mechanism; and the relay stations can be arranged on the unmanned aerial vehicle. By adopting the communication system, the remote control transmission distance of a fire-fighting robot can be enhanced and is not affected by a barrier; the relay stations are arranged on the unmanned aerial vehicle and can achieve free spatial positions of the relay stations. The communication system is simple in structure, and the signal coverage of the robot is wide.

The invention relates to the technical field of welding equipment, and discloses a multidirectional steering-type automatic welding robot. The automatic welding robot comprises a base, a mechanical arm, a rotary table, a laser welding head and a camera unit, wherein a servo motor is installed in the base; an output shaft of the servo motor is connected with the rotary table; the rotary table is installed at the top end of the base; the mechanical arm is installed on the rotary table; and the laser welding head and the camera unit are installed on the mechanical arm separately. According to the multi-directional steering-type automatic welding robot, a laser welding tracking system assists a force sensing system, the laser welding tracking system and the force sensing system make up for each other to provide a better guarantee for stability and robustness of the robot in the remote control welding process, panoramic observation of a robot working site is achieved through zooming in cooperation with a visual system, and global overall information is provided for an operator, so that the welding efficiency and accuracy are improved.

The invention relates to a robot teleoperation track planning method based on control behavior detection, and belongs to the technical field of robot and human interaction. The method comprises the steps: firstly, establishing a human-computer interaction model of a teleoperation robot, detecting and estimating human operation behaviors by a sliding mode control and neural network technology based on theoretical analysis and parameter confirmation, applying the obtained operation behaviors to expected track tracking and updating, and controlling the teleoperation robot to move according to a formed new reference track, and thus in the process of man-machine interaction of the teleoperation robot, enabling an operator to perceive expected impedance characteristics through interaction behaviors. According to the method, human operation behaviors of a master end are detected, evaluated and reconstructed, influences of uncertainty and disturbance on the human operation behaviors are drawn by behaviors of operators and are actively compatible, the influences are regarded as active contribution, the expected track of a slave end is designed and updated, the effect of improving the consistency of the master behaviors and the slave behaviors is achieved, and the track tracking effect is improved.

The invention relates to a robot and unmanned aerial vehicle combined substation inspection intelligent system, which is characterized in that a robot is in signal connection with an unmanned aerial vehicle, and the robot is used for low-altitude inspection and discrimination inspection; the unmanned aerial vehicle is remotely controlled by the robot for high-altitude inspection; when the unmannedaerial vehicle does not work, the unmanned aerial vehicle is parked on the robot, polling data is imported into the robot, and the robot charges the unmanned aerial vehicle. The substation inspectionintelligent system integrates the advantages of the robot and the unmanned aerial vehicle, can give full play to the combination advantages of the robot and the unmanned aerial vehicle, and realizesthe coordinated inspection of the robot and the unmanned aerial vehicle, thereby realizing the omnibearing inspection operation of the substation.

The invention discloses a mobile radioactive ray detecting device. The device comprises a radioactive ray detector, a mobile robot carrying the radioactive ray detector, a robot remote control operating platform and a measurement data managing system, wherein the radioactive ray detector and the mobile robot are respectively connected with the robot remote control operating platform through a wireless network communication system in a communication manner, the robot is operated by the robot remote control operating platform in a remote control manner to move around a radioactive ray device, and measured data obtained by the radioactive ray detector is read and recorded by the measurement data managing system in a real time manner. A person using the mobile radioactive ray detecting device disclosed by the invention operates the motion of the robot outside the safe distance through wireless network, the measured date of the radioactive ray detector is read through the wireless network, and whether the environment around a radioactive ray machine in working is safe or not is evaluated so as to analyze and judge the safety of the radioactive ray device, so that the mental tension of a detecting person under a non-safe state can be avoided, and besides, the harm of radioactive ray leakage to the health of the person can be avoided.

The invention provides a robot cluster control method, a robot, a remote control device and a storage medium, and belongs to the technical field of robot control. The method is applied to any one of a plurality of robots in a robot cluster, and a remote control device is in one-way wireless connection with each robot. The method comprises the steps that a remote control instruction sent by the remote control device in a preset transmitting frequency band is received in a preset receiving frequency band, wherein the remote control instruction comprises coded information, the coded information is information obtained by coding an input operation of a user by the remote control device, and the receiving frequency band is equal to the transmitting frequency band; the coded information is decoded to obtain an input operation corresponding to the coded information; an action instruction corresponding to the coded information is determined according to the input operation corresponding to the coded information and a preset corresponding relationship between the input operation and the action instruction; and the action of the action instruction corresponding to the coded information is executed. According to the invention, a large number of robots can be controlled.

The invention discloses a robot and belongs to the technical field of electromechanics. The robot comprises actuating equipment and control equipment. The actuating equipment is provided with an environmental information collection system and an action system. The environmental information collection system collects the information of the environment where the actuating equipment is located and sends the environmental information to the control equipment, and the action system receives action information sent by the control equipment. The control equipment is provided with a human action capturing system and an environmental information reproduction system, and the human action capturing system collects action information of an operator, sends the action information to the actuating equipment and shows the environment where the actuating equipment is located to the operator according to the received environmental information. Communication connection is built between the actuating equipment and the control equipment, and the environmental information and the action information are transmitted. The remote operation efficiency of the robot is improved, and the difficulty of remote operation of the robot is lowered.

The invention relates to the technical field of robot teleoperation, in particular to a humanoid binocular follow-up virtual reality system suitable for robot teleoperation, comprising: a two-dimensional platform arranged on a robot body and provided with a follow-up mechanism; a binocular camera, wherein the binocular camera is arranged on the two-dimensional platform; a VR helmet worn on the head of an operator, wherein a gyroscope is arranged in the VR helmet, and the gyroscope is used for detecting head movement information; a control module connected with the gyroscope and the follow-up mechanism, wherein the control module is used for controlling the follow-up mechanism to drive the binocular camera to move according to the head movement information detected by the gyroscope.