39 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.

The invention discloses an exoskeleton system based on man-machine symbiosis and a construction method, and aims to improve the suitability of a rehabilitation exoskeleton robot and people. Comprising a control system hardware platform, a teleoperation robot, a digital twinborn body of the teleoperation robot, an exoskeleton operator, a digital twinborn body of the exoskeleton operator, an exoskeleton robot and a digital twinborn body of the exoskeleton robot. By integrating various sensors, comprehensive acquisition of motion states and biological signals of exoskeleton operators is realized. In addition, the system further comprises an electroencephalogram signal analysis module and a voice semantic analysis module which are used for evaluating the concentration degree and intention of the user. According to the method, biomechanical consistency is ensured through a digital twinning technology, and autonomous learning and optimization adjustment are performed by using a large model, so that the functions of motion mode prediction, kinetic parameter optimization, personalized rehabilitation scheme suggestion and the like are realized. The method not only improves the effect and efficiency of rehabilitation training, but also enhances the user experience and the safety and reliability of the system.

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.

The invention provides an image denoising method and system for a sonar carried by an underwater remote control robot. The method comprises the following steps: step 1, acquiring an original sonar image of the sonar carried by the underwater remote control robot; 2, preprocessing the original sonar image obtained in the step 1; step 3, carrying out de-noising processing on the sonar image preprocessed in the step 2 by using a sonar image de-noising method based on Alpha-Shapes on the basis of the sonar image de-noising method; and step 4, outputting the sonar image after de-noising processing in the step 3. The method is applied to the field of underwater robot sonar image processing, the denoising processing effect on the sonar image is improved, and the image can be better applied.

The present invention provides an offshore platform operating equipment and an operating method. The offshore platform operating equipment includes a base, an operating table, and a magnetic operating unit. The operating table and the magnetic operating unit are both arranged on the base. The magnetic operating unit includes an operating auxiliary unit and a magnetic operating body. The operating auxiliary unit includes a hoisting device and a material storage device, both of which are connected to the base. The hoisting device is used to lift the magnetic operating body from the base and suspend it to an operating height. The material storage device is used to provide the magnetic operating body with materials required for the operation. The magnetic operating body includes a remote-controlled robot that can be adsorbed to the operating area of ​​the offshore platform to perform operations. The present invention can suspend the remote-controlled robot at the operating height through the hoisting device. The staff only needs to stand on the deck of the offshore platform to remotely control the remote-controlled robot to adsorb to the operating area and operate. No direct manual operation is required, and the remote-controlled robot can be used at different operating points to achieve reuse.

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.

The utility model provides an offshore platform operation system which comprises a base, an operation table and a magnetic attraction operation unit, the operation table and the magnetic attraction operation unit are both arranged on the base, and the magnetic attraction operation unit comprises an operation auxiliary unit and a magnetic attraction operation body. The operation auxiliary unit comprises a hoisting device and a storage device which are connected with the base; the hoisting device is used for hoisting the magnetic suction operation body away from the base and hoisting the magnetic suction operation body to an operation height; the material storage device is used for providing materials needed by operation for the magnetic attraction operation body. The magnetic attraction operation body comprises a laying platform and a remote control robot, and the remote control robot is provided with a magnetic attraction module capable of being attracted to the surface of the offshore platform. The remote control robot can be hung at an operation height through the hanging device, a worker only needs to stand on an offshore platform deck to remotely control the remote control robot to be adsorbed in an operation area and operate, manual direct operation is not needed, the remote control robot can be used at different operation points, and repeated utilization is achieved.

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.

1. The name of the design product: Remote control robot. 2. The use of the design product: For toys. 3. The design key points of the design product: Lie in the shape. 4. The picture or photo that best shows the design key points: Perspective view. 5. The rear view is omitted.

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 technology is directed to providing pick and place instructions to a robot. Sensor data including an image feed of a picking container in which at least one product is located may be output. An input indicating a selected product including at least one of the products located in the picking container may be received. A representation of the selected product and at least one image of the order container may be output for display. The representation of the product may be scaled relative to the at least one image of the order container. A place input corresponding to the position of the representation of the product at a packing location within the at least one image of the order container may be received and transmitted to a robot control system.

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 present invention provides a force-sensing operation terminal and a teleoperated robot. According to the force-sensing operation terminal of the present invention, it includes an operating device and a resistance generating device, and the operating device and the resistance generating device are connected by a one-way transmission mechanism. According to the force-sensing operation terminal and the teleoperated robot of the present invention, the operating device and the resistance generating device are connected by a one-way transmission mechanism, that is, a one-way transmission mechanism is provided on the force transmission path, so that a directional resistance is simulated by a resistance generating device without a direction, thereby giving a directional feedback force to the operating terminal, thereby improving the reliability and accuracy of the operation. The present invention provides a low-cost and high-reliability solution through a simple one-way transmission mechanism.

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 present disclosure relates to a computer-implemented method for generating a scene representation of an environment. The method includes to obtain a sequence of image of the environment, determine regions of interest in images of the sequence of images, obtain, for each determined region of interest, information on a location in the environment corresponding to the respective region of interest, accumulate the obtained information corresponding to the regions of interest for generating the scene representation of the environment, and output the generated scene representation to at least one of a robot action planner controlling a tele-operated robot or via a display to an operator of the tele-operated robot.

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.