248 results about "Tele operation" patented technology

Systems and methods that allow robots to perform tasks for users are provided. A robot may comprise one or more robotic arms and / or a mobile base. The arms may be controlled by electric actuators and may have six or more degrees of freedom. The robot may have sensors which can be accessed remotely. Robots may have varying levels of autonomy, including, for example, full teleoperation (in which a human can have detailed control over the robot) or full autonomy (in which the robot can complete a task without any human intervention). Various entities can interact with individual robots or groups of robots over a network, locally, directly or in person, or any combination thereof. A management system can allow entities to control and / or monitor the robots.

A teleoperations system may be used to generate virtual paths of travel for an autonomous vehicle based upon teleoperations system-provided suggestions, and virtual path suggestion constraints, e.g., based upon physical constraints associated with an autonomous vehicle such as minimum turning radius, trailer sweep, and the like, may be used assist in guiding a teleoperations system operator during generation of virtual path suggestions.

The invention relates to the technical field of humanoid robot control. The invention provides a humanoid robot bilateral force feedback teleoperation method of a force compensation mechanism. According to the method, a 5G private network is used for deployment, the characteristics of low delay, high reliability and large bandwidth of the 5G private network are utilized, real-time interaction of high-dimensional haptic data in a remote and cross-domain environment is effectively supported, cross-domain teleoperation can be achieved, high-fidelity feedback transmission of environment contact force is effectively achieved, and the real-time interaction of the high-dimensional haptic data in the remote and cross-domain environment is achieved. The precision, the operation efficiency and the overall safety of remote operation of the humanoid robot in complex industrial scenes such as nuclear power maintenance, precise assembly and high-risk environment operation are remarkably improved, the gap between traditional automation and low-efficiency remote operation is filled up, and reliable technical support is provided for advanced industrial application needing man-machine cooperation fine force control.

Provided herein is a control system and methods thereof for controlling operation of a robot. The control system comprises: a robot, including a plurality of sensors wherein each generating a stream of raw sensor data having a data type, size, and frequency, and a plurality of actuators cause movement of the robot; an autonomous control subsystem configured to receive the sensor data and output autonomous actuator data; and a teleoperation control subsystem configured to receive the sensor data, transmit the sensor data to a human operator, and output teleoperation actuator control signals, wherein the autonomous control subsystem and the teleoperation control subsystem receive, from the robot, sensor data having the same data type, size, and frequency, and wherein the autonomous actuator data and the teleoperation actuator data have the same data type, size, and frequency; and a control-determining subsystem configured to switch between autonomous and teleoperation control.

The invention discloses a power plant remote monitoring and fault diagnosis system based on a 5G network, and belongs to the technical field of remote monitoring, fault diagnosis and operation control. Comprising an on-site intelligent sensing and control terminal, a cloud intelligent operation and maintenance platform and a remote operation and display terminal. According to the invention, the characteristics of high bandwidth and ultra-low delay of the 5G network are fully utilized, and real-time acquisition, edge early warning analysis and high-speed transmission of multi-dimensional data of the power plant are realized; fusion of big data and artificial intelligence of a cloud intelligent operation and maintenance platform is provided, and accurate monitoring of the operation state of the power plant equipment, intelligent early warning of abnormity, rapid diagnosis of a fault source, real-time closed-loop execution of a remote control instruction and continuous optimization of a full-life-cycle predictive maintenance strategy can be realized. According to the invention, the safety, the stability and the operation and maintenance management efficiency of power plant operation are obviously improved, and the operation cost is effectively reduced.

The invention discloses a mechanical arm teleoperation control method and system based on incremental mapping, and the method comprises the steps: carrying out the noise reduction processing of the position and posture of a handle through adaptive low-pass filtering, and achieving the position and posture consistency mapping from a handle space to a mechanical arm working space after coordinate system axis rearrangement and similar transformation mapping; the system provides two kinds of control output of a pose tracking mode and a speed tracking mode, real-time inverse kinematics solution is carried out through a Jacobian matrix and a damping least square method in the speed mode, and resolution scaling and exponential moving average / spherical linear interpolation smooth filtering are carried out on a target pose in the pose mode. And then the handle motion instruction is mapped into a Cartesian instruction or a joint space instruction at the tail end of the mechanical arm, closed-loop execution is conducted through a real-time state feedback link, and the method can be used for scenes such as robot service, teaching, remote operation and data collection.

An example method of displaying windows in a remote desktop system, includes: obtaining, by a remote desktop client executing on a local computer having a local operating system (OS), information relating a first window to a first virtual desktop generated by the local OS; sending the information from the remote desktop client to a remote desktop server; setting, by the remote desktop server, a tag in a remote window object representing a remote window that corresponds to the first window based on the information, the remote window generated by a remote OS on a remote computer; receiving, at the remote desktop client, at least a portion of the remote window object including the tag; and displaying, by the remote desktop client in cooperation with the local OS based on the tag, the first window on the first virtual desktop.

The arrangements disclosed herein relate to receiving a data stream of a medical procedure performed with a robotic medical system; identifying, using the data stream and with one or more models trained with machine learning, a type of an anatomical structure on which the medical procedure is performed, and a type of an interaction with the anatomical structure; and determining an amount of force to be applied to the anatomical structure based at least in part on the type of the anatomical structure and the type of the interaction with the anatomical structure. Arrangements also relate to providing an indication of the amount of force to control performance of the medical procedure with the robotic medical system.

The invention relates to the technical field of mine filling operation remote monitoring, and discloses a mine filling operation remote monitoring and virtual debugging system based on digital twinning, which comprises a sensing acquisition module, an intrinsic safety type edge computing gateway, a cloud service platform, a digital twinning module, a decision module, a virtual debugging module and a remote interaction terminal, according to the invention, through the digital twin module, the dynamic model synchronous with the filling goaf is generated by using the driving of the current state data, so that the three-dimensional visual transparent monitoring of the goaf in the filling process is realized, and a remote operator can intuitively master the implementation working condition; through the virtual debugging module, the digital twin module is called to carry out physical simulation on filling process parameters, automatic optimization and iterative verification on the process parameters are realized, and finally an optimal process scheme subjected to simulation verification is output. The debugging cost and risk are greatly reduced, and the debugging period can be shortened.

The invention provides a mechanical arm teleoperation system adaptive to a quadruped robot and a control method, and relates to the technical field of robot control. According to the method, firstly, a far-end main mechanical arm is introduced on the basis of a mechanical arm of the quadruped robot to form a main-end mechanical arm system and a slave-end mechanical arm system, and a remote operator remotely maps an action instruction to the slave-end mechanical arm system by controlling the main-end mechanical arm; then, a clamping jaw module with an image and tail end contact force sensor is installed at the tail end of the slave end mechanical arm, and image data collection and tail end contact force collection on a working site are achieved; secondly, the image information and the tail end contact force are remotely transmitted to a remote operator in real time through a wireless transmission module and a remote man-machine interaction module; and finally, a remote operator controls the main end mechanical arm in real time according to the real-time image information and the tail end contact force, remote operation of the quadruped robot mounting mechanical arm in a complex scene is achieved, and the operation efficiency and the operation precision are improved.

The invention relates to the technical field of robots, in particular to a mobile robot remote operation system and method based on mixed reality, and the method comprises an operator end and a robot end, the operator end completes a complex remote operation task based on visual feedback provided by a man-machine cooperation interaction interface, and the robot end completes a remote operation task based on visual feedback provided by the man-machine cooperation interaction interface. The virtual reality controller integrates a motion state and an operation mode of the mobile robot, and the mixed reality server generates visual feedback according to visual information of a remote operation visual angle of the mobile robot; the robot end comprises a mobile robot, a collection device on the mobile robot and a robot server, and after the mobile robot receives a remote control instruction sent by the virtual reality controller to the robot end, posture and button information of the mobile robot are input into the robot server to drive the mobile robot to move. Therefore, the problems of low real-time performance and accuracy of remote control, poor operation efficiency and flexibility and the like caused by limitation of bandwidth and system time delay in related technologies are solved.

The embodiment of the invention discloses an energy storage control system information transmission and index evaluation method and system. The method comprises the following steps: acquiring signal data of a lower computer of a hydropower station unit and transmitting the signal data to a remote centralized control target center; obtaining the integrity of unit lower computer signal data received by the target center; obtaining the availability of unit lower computer signal data received by the target center; acquiring the transmission safety of the acquired hydropower station unit lower computer signal data to a target center; and based on integrity, availability and transmission security, determining evaluation information of the acquired hydropower station unit lower computer signal data. According to the method, by comprehensively considering integrity, usability and safety, powerful support can be provided for a remote centralized control operation on-duty mode, an operator can accurately monitor the operation state of a unit in a remote centralized control center in real time and perform remote operation and control, centralized management and optimal scheduling of a hydropower station are achieved, and the production efficiency and the management level are improved.

The invention discloses a robot whole body control method and system based on real-time inertia motion capture and reinforcement learning, and belongs to the field of robot control. The system comprises a motion capture module, a data processing and forward kinematics module, a motion redirection and optimization module, a general motion strategy control module and a real-time control and driving module which are connected in sequence, and an end-to-end closed-loop control assembly line is formed through a shared memory and a high-speed communication protocol. According to the method, human body joint data are collected through inertia motion capture equipment, high-quality mapping from a human body posture to a robot model is achieved through posture calculation, non-uniform scaling and two-stage differential inverse kinematics optimization, and a stable joint instruction is generated in combination with a reinforcement learning strategy trained by a PPO algorithm. The method solves the problems of lack of feedback closed loop, joint deadlock, contradiction between fidelity and stability and the like in the prior art, has the characteristics of high robustness and high expansibility, and can be widely applied to scenes of remote operation, action reproduction and the like.

The invention discloses a multi-machine cooperative engineering intelligent construction system, and belongs to the technical field of multi-machine cooperative construction. The system comprises the following modules: a multi-dimensional sensing module for collecting and processing multi-dimensional data of a construction site in real time; the task planning and scheduling module is used for dynamically generating an optimal task plan and resource allocation scheme and executing intelligent scheduling to improve the construction efficiency; the intelligent management module is used for overall planning and managing the whole construction process and ensuring coordination and high efficiency of the construction process; the multi-machine cooperative control module is used for coordinating a plurality of construction robots through a distributed control algorithm to realize cooperative execution of complex tasks; the self-adaptive quality control module monitors the construction quality in real time, automatically optimizes construction parameters through self-adaptive adjustment and an intelligent deviation correction mechanism, and ensures that the construction quality reaches an expected standard; and the man-machine interaction interface provides a visual system monitoring and control platform, supports manual intervention and remote operation, and enhances the control and adjustment capability of the construction process.

A system and method for robotic teleoperation enable a teleoperated robotic element to perform a sequence of actions based on intention estimation, eliminating the need for continuous human control. The system includes a robotic teleoperation input that receives motion inputs and gaze data from a human operator performing a robotic teleoperation task. A robotic teleoperation feature extractor analyzes and processes the motion inputs and the gaze data into sequential input data. A multi-window model assigns hierarchical prediction windows to the input data, generating windowed sequential data. A hierarchical neural network processes the windowed sequential data to determine low-level action intentions and high-level task intentions, and generates an intention estimation based on the low-level action intentions and the high-level task intentions. A hierarchical dependency model incorporates hierarchical dependent loss to refine the intention estimation.

The invention relates to the technical field of remote operation, in particular to a parent-child safety monitoring method based on artificial intelligence emotion synchronization and positioning guarding, which comprises the following steps: acquiring bracelet positioning, heart rate and acceleration, performing time alignment and integration, generating a child real-time state record, and storing the child real-time state record; the method comprises the following steps: acquiring a risk according to a positioning mapping geo-fence, forming a continuous emotional state, recognizing an emotional consistent section and positioning residence in combination with a track, calculating a continuous time difference, determining a concerned section according to a threshold value, and writing start-stop information according to a time axis to form a guard record. Spatial risks and emotion levels are fused to form a stable time sequence state, a concernable section is recognized by combining emotion consistency and positioning residence, quantitative judgment is carried out according to a continuous time difference value, guard attention is converted into traceable section record from instantaneous alarm, and monitoring judgment accuracy and continuous reference value are improved.

A teleoperations system may be used to selectively override conditions detected by an autonomous vehicle to enable the autonomous vehicle to effectively ignore detected conditions that are identified as false positives by the teleoperations system. Furthermore, a teleoperations system may be used to generate commands that an autonomous vehicle validates prior to executing to confirm that the commands do not violate any vehicle constraints for the autonomous vehicle. Still further, an autonomous vehicle may be capable of dynamically varying the video quality of one or more camera feeds that are streamed to a teleoperations system over a bandwidth-constrained wireless network based upon a current context of the autonomous vehicle.

A remote collaborative robot acupuncture system includes an acupuncture robot and a remote operation terminal; the remote operation terminal and the acupuncture robot are connected by means of a network; the acupuncture robot comprises a multi-axis robotic arm, a monitoring module, and an acupuncture operation group; the monitoring module and the acupuncture operation group are both mounted on the multi-axis robotic arm; the multi-axis robotic arm operates the acupuncture operation group to move to an acupuncture site of a human body; the monitoring module is configured to capture images and perform monitoring in real time; the remote operation terminal comprises a teaching pendant, a display, and a controller; the teaching pendant and the multi-axis robotic arm have the same structure; the teaching pendant is operated in a network connection state, and the multi-axis robotic arm follows.

The invention relates to the technical field of remote single-hole robot operation guidance and demonstration, and discloses a system and a method for remote single-hole robot operation guidance and demonstration, which realize efficient, stable and secure transmission of remote force feedback signals and control instructions through a low-delay secure communication link based on SRv6 + TSN and a national password SM9 encryption technology. The problem that transparency and real-time performance are difficult to consider in remote operation is effectively solved, experts can seamlessly perceive interaction force of local instruments and tissues and carry out accurate remote intervention, and through dynamic modeling of a cloud twinning service module and Transformer and graph neural network algorithms, the interaction force between the local instruments and the tissues can be accurately and remotely intervened. Real-time prediction of risks such as bleeding and perforation in the operation and accurate matching of tissue deformation are achieved, a visual and fused AR guidance interface is provided for experts in combination with a mixed reality guidance engine, and the accuracy of remote guidance and operation safety are remarkably improved.

The invention discloses a PHASE formula control method and system based on a PLC, and belongs to the technical field of industrial automation. According to the method, the technological process is decomposed into independent and reusable PHASE function blocks, modular programming is achieved in a PLC, and the PHASE function blocks are dynamically combined and called through formula software to generate the formula process. The system integrates a wireless communication module, a wireless AP and a POE switch, and supports remote operation of a mobile terminal PDA. Meanwhile, real-time interaction between the PLC and the formula software is realized through VxSCADA data acquisition and an OPC protocol; and the MES interaction layer configures a firewall and a JSON interface file to realize synchronous uploading of process parameters and quality data and complete production tracing. Through PHASE architecture, wireless mobile control and MES deep integration, modularization, flexibility and intelligence of industrial formula control are achieved, the problems of program redundancy, high maintenance cost and poor operation flexibility in traditional PLC control are solved, and the production efficiency and intelligent management level of multi-variety and small-batch production scenes are remarkably improved.

A system for controlling a first machine that is remotely operable to perform a first task, comprises one or more processors collectively configured to: i) create a first node graph for the first task, the first node graph comprising a plurality of execution nodes, each execution node defining verb logic that is to be performed on data obtained from the first machine, to process said data, and wherein the output of the first node graph is an action to be performed by the first machine to perform the first task; ii) propagate the data received from the first machine in real-time, through the first node graph to determine a first action to be performed by the first machine; and iii) send a control message to the first machine to instruct the first machine to perform the first action.

The invention relates to the technical field of robots, in particular to a remotely-operated surgery assisting robot and a method thereof.The remotely-operated surgery assisting robot comprises a robot body, a mechanical bearing arm is fixedly arranged on the robot body, and a device bearing assembly is installed on the mechanical bearing arm; surgical instruments are stored through the instrument bearing assembly, a bearing assembly driving mechanism is further arranged on the robot body, the instrument bearing assembly is driven to move upwards through the bearing assembly driving mechanism, meanwhile, the instrument bearing assembly is driven to rotate, and a sealing assembly is installed on the instrument bearing assembly. The invention further relates to an operation method of the remotely-operated surgical auxiliary robot, and the operation method comprises the following steps that firstly, surgical instruments are pushed; step 2, playback of the surgical instrument; and 3, resetting the appliance bearing assembly.

Systems and methods of automated task planning in a remotely operated device system are provided. The method includes storing a domain model for modeling a domain of the remotely operated device system and a task library including a plurality of subgoals each mapped to a corresponding subtask or set of subtasks that achieves the subgoal, the task library being filterable by subgoal, and receiving, through a human-machine interface, a user input including at least one goal and initial conditions. The method further includes performing, with a task planner module: automatically decomposing the at least one goal into subgoals; querying the task library for matching subtasks using the subgoals; generating a sequence of actions using the initial conditions, the domain model, and the matching subtasks returned by the task library; returning the sequence of actions as a task to the human-machine interface; and displaying the task in the human-machine interface.

A method for loading and / or unloading vehicle transport cargo vessels is provided. The method (100) comprises providing (110) port sensor data to capture the current situation in an area of ​​the port relevant for loading and / or unloading vehicle transport cargo vessels, and providing (120) vehicle sensor data to capture the current environment of a vehicle to be loaded. The method (100) further comprises transmitting (130) vehicle sensor data and port sensor data to a teleoperation station (14) for teleoperated control of the vehicle, and teleoperated (140) control of the vehicle to be loaded at least partially based on the captured current environment of the vehicle and on the current situation in the area of ​​the port relevant for loading and / or unloading vehicle transport cargo vessels. Furthermore, a system (10) for loading and / or unloading vehicle transport cargo vessels is provided.

Disclosed is a safety shared control system based on performance of teleoperator, including a master teleoperation system, a slave robotic manipulator system and a communication module; where the master teleoperation system includes EEG signal measurement of a teleoperator, hand controller operation input, and upper computer software, and the upper computer software includes a graphical user interface (GUI), safety simulation for protecting the safety of a robot, and a PoT model; and the slave robotic manipulator system includes a robotic manipulator, a vision camera and lower computer software, and the lower computer software includes a target recognition algorithm, an autonomous controller, and a shared controller for dynamically allocating human-robot control weights. A safety control system coefficient of the teleoperator is identified through safety simulation prior to actual operation, such that a safety control method for different operating experience is implemented, and safety operation of a teleoperation robot is realized.

A tetherless magnetic impact needle robot (MINRob) based on a triple-magnet system with reversible and repeatable magnetic collisions to overcome this constraint on output force. The working procedure of the system is divided into several states, and a mathematical model is developed to predict and optimize the force output. These force values in magnetic impact and penetration are obtained from a customized setup, indicating a 10-fold increase compared with existing miniature robots that only utilize magnetic attractive force. Eventually, the MINRob is integrated with a teleoperation system, enabling remote and precise control of the robot's position and orientation. The triple-magnet system offers promising locomotion patterns and penetration capacity via the notably increased force output, showing great potential in robot-assisted tissue penetration in minimally invasive healthcare.

An operation control method according to an embodiment includes: acquiring sensor data generated when an operator remotely operates an end effector that is able to grasp or operate an object and in which a plurality of fingers are disposed; determining the role of each of the plurality of fingers on the basis of the sensor data; and generating a command for operating the end effector on the basis of the determined role of each of the plurality of fingers and the sensor data.

The utility model relates to the technical field of spraying vehicles, in particular to an intelligent spraying vehicle suitable for tunnel operation, which comprises a movable vehicle main body, a water tank and a high-pressure water pump capable of being remotely controlled are arranged in the movable vehicle main body; the at least one rotary supporting seat is rotatably arranged on the upper surface of the vehicle main body; each spraying device is arranged on the corresponding rotary supporting seat and is indirectly connected with the water tank through a high-pressure water pump; through a system control or handheld remote control mode, free movement of the vehicle body and starting and stopping of the high-pressure water pump can be remotely operated, intelligent operation is achieved, the labor intensity of workers is reduced, and meanwhile the problem that in the prior art, safety risks are caused to operators in an operation area is solved; and moreover, the working posture of the spraying device can be flexibly changed according to different working conditions by adjusting the postures of the telescopic unit and the folding unit, so that the environmental adaptability is remarkably enhanced, and the working efficiency is improved.

A control shell, that is an accessory to a surgical instrument control device of a teleoperated surgical system, includes: a body, formed to overlay onto a user input console of the surgical instrument control device, that includes: a cutout region disposed to allow a first preexisting control element of the surgical instrument control device to remain accessible through the control shell to an operator of the surgical instrument control device; a shell control element for controlling a function of the teleoperated surgical system, and a communication interface; a memory that includes instructions for integrating the shell control element into the surgical instrument control device and controlling robotic movement of an instrument; and a processor configured to: communicate with the surgical instrument control device via the communication interface, and integrate the shell control element into the surgical instrument control device based on the instructions stored in the memory.