30 results about "Teleoperated robot" patented technology

The invention discloses an underwater target identification and positioning method based on fusion of a physical model and deep learning, and belongs to the technical field of computer vision, and the method comprises the steps: carrying out the transmissivity estimation and physical restoration of a collected underwater monocular image according to an underwater light propagation model, and carrying out the image correction; key feature points are extracted, and high-quality matching point pairs are screened in combination with the joint similarity; further deriving a basic matrix through the high-quality matching point pairs meeting the epipolar geometric constraint relation, solving an essential matrix, and obtaining relative attitude parameters between the cameras in combination with weighted re-projection-LM optimization; and finally, refraction correction triangulation is carried out according to the Snell's law, pixel-level fusion is carried out after scale normalization and space alignment are carried out on the refraction correction triangulation and dense depth output by the MiDaS, three-dimensional space coordinates of the target are inverted, and high-precision recognition and positioning of the underwater target are achieved. The system is light in structure, efficient in calculation, suitable for being integrated on various underwater autonomous or remote control robot platforms and used for tasks such as target recognition, tracking and positioning.

This invention discloses an adaptive impedance control method and device for a teleoperated robot system. The method is based on a fuzzy logic-based intelligent control mechanism. It dynamically generates a correction update rate for online compensation adaptive terms through fuzzy inference, based on real-time acquired master-slave state information and preset control parameters. This correction update rate, real-time state information, and preset parameters are integrated, and the core dynamic equations of the preset impedance control model are solved to calculate the robot's target position within the current control cycle. This method, based on the robot following the operator's hand movements, superimposes a position compensation amount optimized by the adaptive impedance control model. When problems such as operator hand tremor or network transmission delay cause a sudden increase in contact force, making it impossible to effectively track the desired contact force, the adaptive impedance control device adjusts the contact force, achieving refined teleoperation control.

This invention relates to the field of intelligent manufacturing equipment technology, specifically to a digital twin control method for teleoperated robots that integrates biopharmaceutical cleaning standards. The invention determines spatial constraints based on the distance between the robot's current end-effector position and a restricted boundary, sequential constraints based on the current area and cleaning standards, and temporal constraints based on the time interval between historical cleaning operations and the current time, as well as the distance between the operation position and the current end-effector position. This comprehensive approach determines the intensity of regulatory conflicts and the dominant direction of constraints at the robot's end-effector. Then, by combining this with the robot's desired end-effector speed, the probability of operational conflicts is determined to intervene and correct the robot's operational commands. This invention constructs a digital twin dynamic field integrating three-dimensional constraints of space, sequence, and time, and improves the compliance and effectiveness of digital twin control for teleoperated robots in biopharmaceutical workshops by quantifying the probability of conflicts between operational intentions and cleaning standards.

The application discloses a single-degree-of-freedom holder structure of an underwater remote control robot, a motor driving system is arranged on a holder body, and an illuminating lamp, a camera and a video camera rotatably connected to the holder are dragged through a chain wheel transmission system, and an output end of the chain wheel transmission system is connected with a torque protection system in series; an angle sensor for controlling and displaying the position of the holder is arranged on the holder body. The improved holder is specially used for the degree of freedom holder of an underwater remote control robot (ROV) for operation, and the function of the holder is more perfect; a disc spring and a pair of friction disc structures are additionally arranged in the motor driving system to limit the maximum torque transmission and avoid the holder from moving with too large amplitude, so that the video camera, the underwater illuminating lamp and other key parts are protected in time; the holder angle sensor is arranged to be used for controlling and displaying the position of the holder, and the display is more intuitive and accurate; and the underwater motor of the holder can timely adjust the pressure difference between the inside and outside of the motor according to the operation condition, and the function is more reliable.

A submarine cable salvage method, using an underwater remote control robot to carry a clamp to hold the cable, and then releasing a composite rope, a mushroom anchor, a cable salvage hook and the like for recycling the cable clamp into water, the mushroom anchor is not in the same time with the cable clamp and the underwater remote control robot, compared with the prior art, can avoid binding the rope on the umbilical cable of the underwater remote control robot, does not need to operate the underwater remote control robot and the cable clamp connected with the umbilical cable and its rope at the same time, greatly reduces the risk of rope winding with the umbilical cable, the three times of diving of the underwater remote control robot are separately diving and operating, greatly reduces the operation requirements of the deck operator and the ship operator, and reduces the operation risk of the underwater remote control robot. In addition, the ship operation is more free, mainly considering the influence of the blow flow, if the blow flow is opened, the risk will be smaller.

This invention discloses a safety-sharing control system based on operator performance, comprising a master-end teleoperation system, a slave-end robotic arm system, and a communication module. The master end includes operator EEG signal measurement, hand controller operation input, and host computer software, which includes a human-machine interface, safety simulation for robot safety, and an operator performance model. The slave end includes a vision camera, a robotic arm, and lower-level software, which includes a target recognition algorithm, an autonomous controller, and a sharing controller for dynamically allocating human-machine weights. This invention uses safety simulation to confirm the safety control coefficients before actual operation, realizing safety control methods under different operating experiences and protecting the safe operation of the teleoperated robot. After prolonged operation, by measuring the operator's EEG signals, it achieves dynamic updates of the human-machine shared control weights based on operator performance, improving the operational capabilities of the teleoperation system.

This invention relates to a teleoperated robot control method based on event triggering and finite-time control, solving the problem of poor stability of teleoperated robots with asymmetric variable time delay, achieving finite-time position tracking convergence, and saving network communication resources. The method includes: sending the master-end position signal and the slave-end position signal via a zero-order hold to the master-end finite-time controller to calculate the control torque, which is then sent to the master-end robot to control its movement; sending the master-end position signal to the master-end event triggering decision-maker, which determines whether to use the communication network to transmit the current master-end position information based on the master-end event triggering strategy; sending the slave-end position signal and the master-end position signal via a zero-order hold to the slave-end finite-time controller to calculate the control torque, which is then sent to the slave-end robot to control its movement; and sending the slave-end robot position signal to the slave-end event triggering decision-maker, which determines whether to use the communication network to transmit the current slave-end position information based on the slave-end event triggering strategy.

The invention discloses a control method, device and equipment of a guniting robot and a medium. The residual path length of a target roadway is determined through a guniting robot so as to determine the guniting operation progress of the target roadway, and a plurality of side wall sub-areas needing guniting are determined based on an initial roadway side wall image collected at each target position point in an image recognition mode so as to generate a plurality of area spraying control parameters for spraying control. And identifying a guniting completion state based on the acquired target roadway side wall image, and when guniting on the roadway side wall area of the target position point is completed, continuing to advance to the next target position point to execute guniting operation until the guniting operation is completed, so that a manual guniting mode or a mode of manually controlling the remote control robot is not needed, and the guniting efficiency is improved. The self-adaptive guniting operation is carried out on the target roadway through the guniting robot, flexibility and convenience are achieved, the guniting operation efficiency of the target roadway is improved, the operation duration is shortened, and the guniting operation progress of the target roadway is improved.

The embodiment of the invention provides a control method, device and equipment for a teleoperation robot and a medium, and the method comprises the steps: responding to an alignment instruction between a master robot and a slave robot, and carrying out the alignment of the master robot and the slave robot based on the real-time pose information of the master robot and the slave robot; respectively displaying a virtual master robot image of the master robot and a virtual slave robot image of the slave robot in real time on a preset display interface; generating coarse alignment prompt information on the display interface to prompt to adjust the posture of the master robot until the posture deviation between the virtual master robot image and the virtual slave robot image meets a preset condition; fine alignment prompt information is generated on the display interface to prompt small-range adjustment of the posture of the master robot, and when the posture deviation between the virtual master robot image and the virtual slave robot image is reduced, the slave robot is controlled to selectively follow the posture movement of the master robot, so that the alignment precision between the master robot and the slave robot can be improved; and finally, the accuracy of teleoperation control is improved.

The application discloses a tunnel construction quality detection method based on a remote control robot, and relates to the field of tunnel construction quality detection methods. The tunnel construction quality detection method based on the remote control robot comprises a tunnel construction quality detection system based on the remote control robot, wherein the tunnel construction quality detection system based on the remote control robot comprises a remote control robot, a mechanical arm, a target disc and a 3D scanner, and further comprises a target robot and a scanning robot. In the application, a technician remotely controls the target robot and the scanning robot to enter the inside of a tunnel to complete 3D scanning work according to the tunnel construction site condition, which not only can overcome the adverse factors of the complex tunnel construction environment, improve the laying speed of the detection system, but also can avoid manual detection by the technician, reduce the on-site workload, avoid danger and realize unmanned and nondestructive detection of the concrete thickness of tunnel shotcrete support quickly and stably under the remote control of the technician, wherein multiple remote control robots are respectively loaded with the 3D scanners and the target discs to complete the monitoring and scanning tasks.

An embodiment provides an implementation of constraints on a teleoperated system applied directly to the teleoperated robot. In conventional systems, the teleoperating operator receives feedback from the response of the teleoperated robot to the constraint. In the embodiment, however, the constraint engine initiates constraining feedback commands to the teleoperator simultaneously with its commands to the teleoperated robot. This solves a problem of latency in feedback to the operator by (a) eliminating the time taken for the robot to physically react to the constraints which is what would ordinarily trigger feedback to the teleoperator and (b) by cutting at least one step in the communication path, going directly from the constraint engine to the teleoperator instead of conventional systems that go from the constraint engine to the robot to the teleoperator. Other embodiments are described herein.

This utility model belongs to the field of river dredging technology and discloses an explosion-proof underwater dredging remote-controlled robot. The utility model includes a robot body, which includes a support plate. The upper surface of the support plate is equipped with a discharge component for cleaning river silt and a second crushing component. The front of the support plate is equipped with a first crushing component for breaking the overall structure of the silt. The front end of the first crushing component is engaged with a flow guide component for guiding the air bubbles blown out by the first crushing component. An air supply component for supplying air to the first crushing component is installed on the outer surface of the first crushing component. By activating the first crushing component to discharge air bubbles, the static deposition structure of the silt on the cleaning path of the second crushing component is broken, so that the second crushing component can quickly disperse the accumulated silt during the activation process, thereby reducing the time consumed by the device in the silt cleaning process and improving the practicality of the device.

The application discloses a parallel groove clamp installation control method and a remote control robot system, wherein the method comprises the following steps: S1, receiving an operation instruction from a remote control end, and controlling a double-arm robot to move to a working position; S2, controlling an end effector of the double-arm robot to place two wires to be connected into corresponding wire slots of a parallel groove clamp respectively; S3, replacing the end effector of the double-arm robot with a tightening tool, and tightening bolts of the parallel groove clamp according to a preset sequence and a torque control strategy; and S4, detecting an installation state of the parallel groove clamp after completing bolt fastening. The application realizes full-process automatic operation of parallel groove clamp installation through the remote control robot system, and effectively solves the core technical problems of traditional operation, aiming at the pain points of high safety risk, low efficiency, poor installation precision and the like of manual installation of low-voltage distribution line parallel groove clamps in urban villages.

The application belongs to the technical field of teleoperation robots, and discloses a space mapping method and system for a teleoperation robot based on teaching stiffness. The method comprises the following steps: S1, constructing a relationship formula of the stiffness and position of the slave robot end in the teaching stage by dividing the working stage of the teleoperation robot into the teaching stage and the actual operation stage; S2, dividing the working space of the slave robot end into a fast motion space, a fine operation space and a transition space, and constructing a relationship formula of the expected position and attitude of the slave robot end in the actual operation stage; S3, obtaining mapping coefficients of the position and attitude of each space based on the teaching stiffness characteristics; and S4, solving the expected position and attitude of the slave robot end in each space in the actual operation stage, so as to realize the space mapping of the teleoperation robot. According to the application, the motion in the actual operation stage is smooth and compliant, and the motion stage switching does not need to rely on a button. The method is simple, flexible, functional, low in calculation cost and practical.

The invention provides a remote control robot-based soft working hand teleoperation force planning method, which comprises the following steps of: carrying out grabbing force contact modeling on a soft working hand to obtain a contact force model of fingers of the soft working hand and an object; designing constraint conditions according to the contact force model of the fingers of the soft working hand and the object; actual contact force of the fingers of the soft working hand and the target object is collected, and a final scheme of the five-finger contact force of the soft working hand is obtained by using a particle swarm optimization algorithm based on the quantum mechanics principle based on the contact force model of the fingers of the soft working hand and the object and the constraint conditions.

An end effector and a haptic control system for a teleoperator robot are provided. The end effector is configured for attachment to a robot and includes a visual hub having a plurality of sensors for viewing an environment for telecontrol of the robot and a projector for projection onto an object, surface, or user's body. The user interacts with the projection to guide the robot to perform various tasks. User interactions are detected by sensors in the visual hub to enable feedback control of the robot. The end effector may be used as part of a haptic control system in combination with an auxiliary haptic device to guide the robot to perform various tasks.

The invention belongs to the technical field of teleoperation mechanical arms, and discloses an arm body structure and a teleoperation mechanical arm. The arm body structure comprises a first shell, a second shell and a steering engine. According to the arm body structure, the first shell and the second shell are spliced to form the hollow stress framework, redundant materials which do not need to participate in stress in a solid structure are removed on the premise that a complete supporting structure is constructed, and the stress framework formed by splicing the first shell and the second shell can disperse loads through cooperative stress of the first shell and the second shell, so that the stress performance of the arm body structure is improved. The supporting capacity can be maintained without increasing the material thickness or adopting a solid structure, so that the material consumption of the arm body structure is reduced on the premise that the integrity of the stress framework and the basic supporting function are guaranteed, the weight of the arm body structure and the whole teleoperation mechanical arm is reduced, the burden of long-time holding operation of operators is relieved, and the working efficiency is improved. The operation fatigue condition is improved, and the working efficiency is improved.

1. The name of the design product: cockpit shell (panoramic immersive remote control). 2. The use of the design product: remote control cockpit for precise remote control of robots in complex working conditions such as high dust and high vibration. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 2.

A remote-controlled robot autonomously travels to a plurality of task execution places according to a patrol schedule and executes a plurality of tasks at each task execution place, and includes a setting acquisition unit, and a first switching unit. The setting acquisition unit acquires setting of whether to perform autonomous operation or to perform manual operation by an operation of an operator from a remote control terminal for each of a plurality of tasks to be executed at each task execution place. The first switching unit switches between task execution by autonomous operation and task execution by manual operation based on the acquired setting.

The invention provides a teleoperation robot action control method and system based on hidden space alignment, and belongs to the technical field of robot control. According to the method, the augmented state strategy network and the hidden space value network are constructed, and the augmented state and the real state under the same time step are subjected to consistent alignment in the aspects of hidden space representation and action value, so that accurate action control of the teleoperation robot is realized. The method is used for solving the technical problems that in an existing delay reinforcement learning technology, input structures are inconsistent, characterization is difficult to unify, and deviation exists in value estimation, and the decision stability and the value evaluation precision in a delay environment are fundamentally improved; and the reliability of decision for executing action control in the presence of communication and perception delay in reinforcement learning is improved.

The article concerning the present design is a remote controlled robotic platform vehicle that can travel on uneven ground while maintaining a vehicle body horizontal by changing a distance between ground contact surfaces of wheels and the vehicle body; it is used to mount cargo on top of the vehicle body and carry it, to mount on the top work machinery for construction or agricultural work and work therewith, and the like; Fig. 1.1 is a front view; Fig. 1.2 is a back view; Fig. 1.3 is a left side view; Fig. 1.4 is a right side view; Fig. 1.5 is a top view; Fig. 1.6 is a perspective view; Fig. 1.7 is a perspective view.

1. Name of the design product: teleoperation robot. 2. Use of the design product: used in mechanical robot, can be used in remote image monitoring and teleoperation field. 3. Design points of the design product: in shape. 4. Picture or photo best indicating the design points: perspective view.

Building on and adopting tele driving technologies, here a tele robotic arrangement (20) drives a vehicle via robot (21 ), replacing the dependence on tele controlled technologies and mechanisms installed on a minimum level 2 autonomous vehicle. The regular remote-control cockpit (22), simulating a vehicle cockpit (21) is driven by a remote driver to operate remotely the driving mechanisms and devices inside the actual vehicle via a humanoid robot (21), which consists of multiple cameras (eyes) (28), hands (29), adjustable angle feet (30), microphones (31), speakers (32), control units (33), signal receiver and transmitter units (58), in addition to the vehicle computer vision equipment (34), all are set to transmit remotely a semi-driver and vehicle vision to a remote driver receiver (58) inside a cockpit (22) and receive driving instructions from it. The humanoid remotely controlled robot could be modified to do other technical, medical, security, guiding, educational, irrigation, firefighting... tasks.

A robot includes an optical marker disposed to be visible in a top-view image of the robot, a receiver configured to receive a top-down image of an area of interest surrounding the robot within a property, and a processor configured to distinguish the robot from structural features on the property based on an image of the optical marker. A position and an orientation of the robot and the structural features relative to the property is determined based on the top-down image. Among the structural features, a subset of features classified as obstacles inhibiting an operation of the robot as the robot moves within the area of interest is determined. An operating path for the robot within the area of interest so as to avoid the obstacles is then determined.

The method comprises the following steps: acquiring a multi-modal interaction signal of a user and environment perception data acquired by a robot, and according to the multi-modal interaction signal and the environment perception data, performing a dynamic delay compensation algorithm and a self-adaptive permission allocation mechanism to obtain a self-adaptive permission allocation mechanism; and generating a control instruction matched with the demand of the user, sending the control instruction to the robot, obtaining the execution state and environment interaction information of the robot when detecting that the operation of executing the control instruction by the robot is finished, and feeding back the execution state and environment interaction information to the user. It can be seen that the technical problems that the response time of the effective robot is long, the control efficiency and accuracy of the robot are low, and the operation flexibility is poor can be solved, intelligent multi-mode control over the robot is achieved, and therefore the control efficiency and accuracy of the robot and the operation flexibility can be improved.

Systems, methods and computer program products for online recognition of bimanual or bipedal coordination modes directed to completing a task using a robot. Such a method includes the steps of determining an onset of bimanual or bipedal motion of a subject operating the robot, and, in response, receiving trajectory data of left and right hands, or left and right feet, of the subject. The method also includes the step(s) of computing, based on the trajectory data, geometric descriptors of the segment, which include a direction metric and a symmetry metric. The method further includes the step(s) classifying, based on the direction and symmetry metrics, the types of direction and symmetry for the segment. The method also includes at least one of the steps of: generating task performance feedback, and controlling the robot, based on the types of direction and symmetry.

The application discloses a connecting rod type multi-arm rescue robot and relates to the technical field of rescue robots. The connecting rod type multi-arm rescue robot comprises a caterpillar type remote control robot main body. The first telescopic driving element drives the mounting frame to be lifted as a whole and to be sleeved on a trapped person. The second telescopic driving element realizes the lateral displacement of a transmission frame. The third telescopic driving element drives a transmission plate to be extended. The fourth telescopic driving element drives the clamping frame to be accurately positioned to the side of the trapped person's body. The fifth telescopic driving element controls the clamping blocks to clamp clothes. The multiple clamping blocks fix the clothes on the side of the trapped person from different directions. The sixth telescopic driving element drives the two side supporting plates to be close to each other inwardly to form a lifting supporting surface. The complete rescue action chain from clamping, lifting to supporting is realized. The trapped person can be transferred without the rescue personnel entering the dangerous site, and the harm to the rescue personnel caused by collapse, toxic gas and the like can be effectively avoided.

The present invention is a multiplayer robotic combat system designed for interactive gameplay in a physical arena, combining remote-controlled robots, a central game server, and an interactive battlefield. The robots, controlled by players via wireless input devices, are equipped with a range of features, including omnidirectional movement, infrared-based combat systems, health mechanics involving shields and hitpoints, and special abilities with cooldowns. Robots also interact with battlefield elements such as power-up zones and traps that provide temporary advantages or limitations during gameplay. The central server manages the game logic, tracking robot health, ability cooldowns, and positional data, while also enabling custom game modes. The battlefield features customizable terrain and embedded zones that dynamically influence robot behavior. The system is designed for competitive and immersive multiplayer experiences, with support for real-time gameplay synchronization and spectator modes through external displays.

The embodiment of the application belongs to the technical field of remote operation, and relates to a multi-machine remote operation display control method. The multi-machine comprises a remote-controlled robot and a collaborative robot outside the remote-controlled robot. The method comprises the following steps: acquiring a working picture of the remote-controlled robot; the working picture comprises the collaborative robot and / or a state indication of the collaborative robot; and the working picture is sent to a display for display. The application further provides a remote operation display control device, a computer device and a storage medium. The technical scheme of the application can better assist an operator to complete a multi-machine assisted remote operation task in a multi-machine cooperation process.

Robotic system (1) for electrosurgical teleoperation comprising: an electrosurgical instrument (5), suitable to operate in an operating scene; one or more image acquisition devices (6), for acquiring image data of the operating scene; an electronic control system (100), configured to automatically adjust the power of the electrosurgical instrument (5) based on the image data acquired by said one or more image acquisition devices (6).