CN106003053A - Teleoperation passive robot control system and control method thereof - Google Patents

Abstract

The invention relates to the technical field of robot control systems, and discloses a remote-operated follow-up robot control system and a control method thereof, including: a main-end human body posture acquisition unit, the main-end human body posture acquisition unit includes a main-end main control board and a real-time detection A plurality of acquisition boards for the action postures of the joints of the human body, each acquisition board is electrically connected to the main control board at the main end; Quaternions, and transmit each quaternion to the main control board of the main end, and use the human body posture calculation algorithm to solve each quaternion through the main control board of the main end, so as to obtain the joints representing the joints of the human body Angle electrical signal, and transmit the electrical signal to the slave main control board of the slave robot, so that the slave robot can follow the human body to make the same gesture. The control system has the advantage of direct control and better compliance for human-machine interaction.

Description

A control system and control method for a remote-operated follower robot

technical field

The invention relates to the technical field of robot control systems, in particular to a remote-operated follow-up robot control system and a control method thereof.

Background technique

With the continuous expansion of the demand for resource development, nuclear waste cleanup, high-pressure and high-risk operations, surgical operations, and rehabilitation nursing, it is more urgent to study remote operation control technology to replace humans to complete corresponding special tasks. Among them, the teleoperation control technology is especially suitable for unstructured environment operations that are difficult for people to approach or harmful to the human body, and it is also suitable for medical care and other fields. That is, the operator can remotely operate the slave robot in a safe and convenient environment.

At present, the widely used teleoperation control method is mainly to build the master robot and the slave robot, use the experience of the operator, combine the feedback information of the slave robot, and realize the relative movement of the slave robot by controlling the movement of the master robot. sports.

However, because the existing teleoperation control system needs to be equipped with a corresponding master robot, there are problems that the teleoperation control system is complicated and cannot directly control the slave robot to perform the same actions as the master robot.

Contents of the invention

(1) Technical problems to be solved

The purpose of the present invention is to provide a remote operation follower robot control system and its control method to solve the complicated remote operation control system in the prior art and the inability to directly control the slave robot to perform the same action as the master robot The problem.

(2) Technical solution

In order to solve the above technical problems, according to the first aspect of the present invention, a remote-operated follower robot control system is provided, including: a main-end human body posture acquisition unit that can be worn on the human body, and the main-end human body posture acquisition unit includes The main control board of the main end and a plurality of acquisition boards capable of real-time detection of the action postures of each joint of the human body, each of the acquisition boards is electrically connected to the main control board of the main end; and a slave robot; wherein, through each of the The acquisition board obtains the quaternions that can represent the action postures of the joints of the human body, and transmits each of the quaternions to the main control board at the main end, and uses the posture of the human body to solve the problem through the main control board at the main end. The calculation algorithm solves each of the quaternions to obtain electrical signals representing the joint angles of the joints of the human body, and transmits the electrical signals to the slave main control board of the slave robot, so that all The slave robot described above can follow the human body to make the same gestures.

Wherein, the control system further includes the slave main control board arranged on the torso of the slave robot, wherein the slave main control board is wirelessly connected to the master main control board.

Wherein, the control system further includes joint angle executing components respectively arranged at each joint of the mechanical arm of the slave robot, and each of the joint angle executing components is electrically connected to the slave main control board.

Wherein, the control system also includes a binocular vision acquisition module arranged on the head of the slave robot, and the binocular vision acquisition module includes an image acquisition sub-module capable of acquiring the current image and an image acquisition sub-module connected with the image acquisition sub-module An electrically connected transmitting submodule, wherein the image acquisition submodule transmits the current image to the transmitting submodule in the form of an electrical signal.

Wherein, the main-end human body posture acquisition unit further includes a binocular vision imaging module, and the binocular vision imaging module is wirelessly connected to the transmitting sub-module.

Wherein, the control system further includes an angle turning part capable of connecting the head and the torso of the slave robot respectively, and the angle turning part is electrically connected with the slave main control board.

Wherein, the end of the mechanical arm of the slave robot is provided with an actuator interface capable of urging the connected actuator to perform five-degree-of-freedom movement, and the actuator interface is electrically connected to the slave main control board.

Wherein, each of the joint angle actuators is a steering gear or a servo motor.

Wherein, the control system further includes a walking module capable of driving the slave robot to walk.

According to the second aspect of the present invention, a control method for a teleoperated follower robot control system is proposed, including: obtaining quaternions that can represent the action postures of each joint of the human body through each of the acquisition boards, and The quaternion is transmitted to the main control board at the main end;

Each of the quaternions is calculated by using the human body posture calculation algorithm through the main control board of the main terminal, so as to obtain electrical signals representing the joint angles of each joint part of the human body;

Transmitting electrical signals representing the joint angles of each joint of the human body to the slave main control board through the master main control board;

After the slave main control board receives electrical signals representing the joint angles of the joints of the human body, it controls the corresponding parts of the slave robot to follow the human body to make the same gestures as the human body.

Wherein, each of the acquisition boards adopts inertial navigation technology to respectively obtain information that can represent the action posture of each joint of the human body, and express the information in the form of a quaternion.

(3) Beneficial effects

Compared with the prior art, the control system provided by the present invention has the following advantages:

The control system of the present application wears the main-end human body posture acquisition unit on the body of the user, and obtains the quaternions that can represent the action postures of the joints of the human body through each acquisition board in the main-end human body posture acquisition unit, and The quaternions are respectively transmitted to the main control board of the main terminal, and the quaternions are calculated by using the human body posture calculation algorithm through the main control board of the main terminal, so as to obtain electrical signals representing the joint angles of the joints of the human body, And transmit the electrical signal to the slave main control board of the slave robot, so that the slave robot can follow the human body to make the same gesture. In this way, compared to the existing control system, that is, the existing control system needs to specially design the master robot for the slave robot. However, this application directly controls the actions of the slave robot by wearing the master body posture acquisition unit on the human body. It can be seen that the control system of the present application can more directly control the actions of the slave robot, thereby greatly improving the flexibility of human-computer interaction.

In addition, since the slave robot is usually in a dangerous working environment, in order to improve the portability of the control system, it is necessary to make the control system have as few components as possible. However, since the control system of the present application omits the master robot in the prior art, the composition of the control system is simplified and the control of the slave robot is facilitated.

In addition, by adding a walking module, the walking module can be a wheeled chassis, so that the slave robot can be adapted to move flexibly in the indoor environment, or the walking module is a crawler chassis, which has the advantage of good obstacle surmounting performance. So that the slave robot can be adapted to walk in the wild environment.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of a teleoperated follower robot control system according to an embodiment of the present application;

FIG. 2 is a schematic diagram of the overall structure of the slave robot of the teleoperation follower robot control system according to the embodiment of the present application;

FIG. 3 is a schematic diagram of the overall structure of the mechanical arm of the slave robot in FIG. 2 .

FIG. 4 is a schematic flowchart of steps of a control method for controlling a slave robot by using the teleoperated follower robot control system of the present application.

In the figure, 100: control system; 1: main-end human body posture acquisition unit; 11: main-end main control board; 12: acquisition board; 13: binocular vision imaging module; 2: slave-end robot; 21: torso; 211: Slave main control board; 22: Robotic arm; 221: Execution component; 23: Head; 3: Joint angle execution component; 4: Binocular vision acquisition module; 41: Image acquisition sub-module; 42: Launch sub-module; 5 : angle rotation part; 6: actuator interface; 7: walking module; 222: shoulder pitch joint; 223: shoulder yaw joint; 224: shoulder roll joint; 225: elbow pitch joint; 226: elbow Roll joint; 227: wrist yaw joint; 228: finger flex joint.

detailed description

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

As shown in FIG. 1 , FIG. 1 schematically shows that the control system 100 includes a master human body posture acquisition unit 1 and a slave robot 2 .

The master human body posture acquisition unit 1 mainly uses the human body posture to remotely control the slave robot 2 in real time to make the same action as the human body posture, that is, to enable the slave robot 2 to move following the human body's movement. In this way, the flexibility of the human-computer interaction is greatly improved, and the slave robot 2 can be more directly controlled to make the same gesture as the human body.

The main-end human body posture acquisition unit 1 can be worn on the human body, and it includes a main-end main control board 11 and a plurality of acquisition boards 12 capable of real-time detection of motion postures of various joints of the human body. Wherein, each collection board 12 is electrically connected with the main control board 11 at the main end. In this way, the information of each joint part of the human body collected by each collection board 12 can be transmitted to the master main control board 11 in time. Specifically, each acquisition board 12 obtains information that can represent the action posture of each joint of the human body, and makes the information expressed in the form of a quaternion, and transmits each quaternion to the main control board 11 respectively. Each quaternion is calculated by the main control board 11 of the main end using the human body posture calculation algorithm to obtain electrical signals representing the joint angles of each joint of the human body, and transmit the electrical signals to the slave robot 2 The slave-end main control board 21 enables the slave-end robot 2 to follow the human body to make the same gestures. In this way, compared to the existing control system, that is, the existing control system needs to specially design the master robot for the slave robot. However, in this application, the action of the slave robot 2 is directly controlled by wearing the master human body posture acquisition unit 1 on the human body. It can be seen that the control system 100 of the present application can control the action of the slave robot 2 more directly, thereby greatly improving the flexibility of human-computer interaction.

In addition, since the slave robot 2 is usually in a dangerous working environment, in order to improve the portability of the control system, it is necessary to make the control system have as few components as possible. However, since the control system 100 of the present application omits the master robot in the prior art, the composition of the control system 100 is simplified, and it is convenient to control the slave robot 2 .

In the embodiments of the present application, the quaternions and human body posture calculation algorithms are well known to those skilled in the art, and for the sake of space saving, no detailed description is given here.

In a specific embodiment, the collection board 12 can be distributed on the head, back, left upper arm, left forearm, left hand, right upper arm, right forearm, and right hand of the human body, so as to facilitate the collection of corresponding joint parts. action posture.

As shown in Fig. 1, Fig. 2 and Fig. 3, in one embodiment, Fig. 2 schematically shows that the control system 100 also includes a slave main control board 211 arranged on the torso 21 of the slave robot 2, wherein , the slave main control board 211 is wirelessly connected to the master main control board 11 . That is, the slave main control board 211 and the master main control board 11 can realize information transmission through radio signals. In this way, after the master control board 11 wirelessly transmits the received electrical signals representing the joints of the human body to the slave control board 211, the slave robot 2 is controlled to make the same gesture as the human body. It is easy to understand that in order to be able to control the motion of the slave robot 2 more directly, it is necessary to make the angles of the joints of the human body acquired by each acquisition board 12 correspond to the angles of the joints of the slave robot 2, so as to ensure that the human body The action gesture made is consistent with the action gesture made by the slave robot 2.

As shown in FIG. 3 , in one embodiment, FIG. 3 also schematically shows that the control system 100 also includes joint angle executing components 3 respectively arranged at each joint of the mechanical arm 22 of the slave robot 2 , each joint The angle executing components 3 are all electrically connected to the slave main control board 211 . In this way, the slave-end main control board 211 can directly control each joint angle actuator 3 to perform actions that meet the requirements, further making the action of the mechanical arm 22 more flexible.

As shown in FIG. 3 , in a specific embodiment, the joint angle actuators 3 can be distributed in sequence from top to bottom in the shoulder pitch joint 222 , shoulder yaw joint 223 , and shoulder roll joint 224 of the robotic arm 22 . , elbow pitch joint 225 , elbow roll joint 226 , wrist yaw joint 227 and finger flexion joint 228 . Thereby realize respectively in turn the front and rear swing of the mechanical arm 22 relative to the trunk 21, the outward expansion of the mechanical arm 22 relative to both sides of the trunk 21, the left and right rotation of the forearm in the mechanical arm 22 relative to the large arm, and the small arm approaches or moves away from the large arm. The movement of the forearm, the rotation of the forearm around its own central axis, the left and right swing of the wrist relative to the forearm, and the bending of each finger.

As shown in Figure 2, in one embodiment, Figure 3 also schematically shows that the control system 100 also includes a binocular vision acquisition module 4 arranged on the head 23 of the slave robot 2, the binocular vision acquisition module 4 includes an image acquisition sub-module 41 capable of acquiring the current image and a transmission sub-module 42 electrically connected to the image acquisition sub-module 41. Wherein, the image acquisition sub-module 41 transmits the current image to the transmission sub-module 42 in the form of an electrical signal. In this way, real-time acquisition of the on-site environment is realized.

In a specific embodiment, the binocular vision acquisition module 4 may be a binocular vision camera, which is directly arranged on the angle rotating component 5 as described below.

As shown in FIG. 1 , the human body posture acquisition unit 1 at the main end further includes a binocular vision imaging module 13 , which is electrically connected to the transmitting sub-module 42 by wire. Specifically, the transmitting sub-module 42 wirelessly transmits the electric signal of the current image it receives to the binocular vision imaging module 13, and at the same time, combined with the user's own binocular vision system, thereby greatly enhancing the stereoscopic sense of visual feedback, This allows the user to truly and accurately obtain the environment in which the slave robot 2 is located, and further enables the user to remotely control the slave robot 2 to make required gestures in the shortest possible time, thereby completing the task.

In a specific embodiment, the binocular vision imaging module 13 can be binocular video glasses, which can be directly worn on the eyes of the user.

As shown in FIG. 2 , in one embodiment, the control system 100 also includes an angle turning part 5 capable of connecting the head 23 and the torso 21 of the slave robot 2 respectively, and the angle turning part 5 is connected to the main control board 211 of the slave end. electrical connection. Due to the setting of the angle rotating part 5, the head 23 of the slave robot 2 can perform 180-degree pitch and yaw rotation relative to the torso 21, thereby greatly improving the flexibility of the slave robot 2 and making it more flexible. Conforms to the movement standard of the human body.

In one embodiment, an actuator interface 6 is provided at the end of the mechanical arm 22 of the slave robot 2 , and the actuator interface 6 can cause the actuator component 221 connected thereto to move in five degrees of freedom. Wherein, the actuator interface 6 is electrically connected to the slave main control board 211 . In this way, the actuator interface 6 is controlled by the slave-side main control board 211 so that it can provide a control signal for five-degree-of-freedom movement to the actuator 221 , that is, to realize the bending of each finger.

In a specific embodiment, the executing part 221 can be a bionic manipulator or a clamping part with less than five degrees of freedom, so as to adapt to different operation requirements.

In one embodiment, each joint angle actuator 3 is a steering gear or a servo motor. Among them, the steering gear has the advantages of quick response and quick action execution, so that the robot arm 22 of the present application can move more flexibly. It is easy to understand that the specific structure of the steering gear is well known to those skilled in the art, and for the sake of space saving, no detailed description is given here.

In another embodiment, the control system 100 further includes a walking module 7 capable of driving the slave robot 2 to walk. The walking module 7 is a wheeled chassis or a crawler chassis. Specifically, the slave robot 2 is a half-body humanoid robot with a replaceable chassis, which consists of a modularly designed replaceable chassis and an upper body of a humanoid robot that is similar in structure to the upper body of a human body.

Since the walking module 7 of the present application can be a wheeled chassis, the slave robot 2 can be adapted to move flexibly in an indoor environment, or the walking module 7 is a crawler chassis, which has the advantage of good obstacle-surpassing performance, making The slave robot 2 may be suitable for walking in a wild environment.

To sum up, the control system 100 of the present application wears the main-end human body posture acquisition unit 1 on the body of the user, and obtains each joint position that can represent the human body through each acquisition board 12 in the main-end human body posture acquisition unit 1 The quaternions of the action posture, and each quaternion is transmitted to the main control board 11 respectively, and the human body posture calculation algorithm is used to solve each quaternion through the main control board 11, so as to obtain the representative human body The electrical signals of the joint angles of each joint of the robot, and transmit the electrical signals to the slave main control board 21 of the slave robot 2, so that the slave robot 2 can follow the human body to make the same action posture. In this way, compared to the existing control system, that is, the existing control system needs to specially design the master robot for the slave robot. However, in this application, the action of the slave robot 2 is directly controlled by wearing the master body posture acquisition unit 1 on the human body. It can be seen that the control system 100 of the present application can control the action of the slave robot 2 more directly, thereby greatly improving the flexibility of human-computer interaction.

In addition, since the slave robot 2 is usually in a dangerous working environment, in order to improve the portability of the control system, it is necessary to make the control system have as few components as possible. However, since the control system 100 of the present application omits the master robot in the prior art, the composition of the control system 100 is simplified, and it is convenient to control the slave robot 2 .

In addition, by adding a walking module 7, the walking module 7 can be a wheeled chassis, so that the slave robot 2 can be adapted to move flexibly in an indoor environment, or the walking module 7 is a crawler chassis, so it has obstacle-surmounting performance. Good advantages make the slave robot 2 suitable for walking in the wild environment.

As shown in FIG. 4, according to the present invention, a control method for a teleoperated follower robot is also provided, including:

In step S410 , the acquisition boards 12 respectively acquire the quaternions that can represent the action postures of the joints of the human body, and transmit the quaternions to the main control board 11 respectively. Specifically, after wearing the main body posture acquisition unit 1 on the user, the acquisition board 12 located at each joint can acquire the information of the action posture of the corresponding joint and express the information in the form of a quaternion.

In step S420, each quaternion is calculated by the main control board 11 using the human body posture calculation algorithm, so as to obtain electrical signals representing the joint angles of each joint part of the human body.

In step S430 , the master control board 11 transmits electrical signals representing the joint angles of the joints of the human body to the slave control board 211 . That is, the master main control board 11 wirelessly transmits the electrical signals of the joint angles of each joint to the slave main control board 211, so as to realize the control of the slave robot 2 so that it can make the same action posture as the human body.

Step S440, after the slave main control board 211 receives electrical signals representing the joint angles of the joints of the human body, control the corresponding parts of the slave robot 2 to follow the human body to make the same gestures as the human body. In this way, the human-computer interaction between the human and the robot is realized, and the flexibility of the human-computer interaction is greatly improved, that is, the human can more directly control the slave robot 2 to make the required actions to better complete the work Task.

In one embodiment, each acquisition board 12 uses inertial navigation technology to respectively acquire information that can represent the action posture of each joint of the human body, and express the information in the form of a quaternion. It is easy to understand that the inertial navigation technology is well known to those skilled in the art, and for the sake of space saving, no detailed description is given here.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (11)

1. A remote-operated follow-up robot control system, characterized in that, A main-end human body posture acquisition unit that can be worn on the human body. The main-end human body posture acquisition unit includes a main-end main control board and a plurality of acquisition boards that can detect the action postures of various joints of the human body in real time. Each of the acquisition boards is being electrically connected to the main control board at the main end; and slave robot; Wherein, the quaternions that can represent the action postures of the joints of the human body are respectively obtained through each of the acquisition boards, and the quaternions are respectively transmitted to the main control board at the main end, and the main control board at the main end is used to The control board uses the human body posture solving algorithm to solve each of the quaternions to obtain electrical signals representing the joint angles of the joints of the human body, and transmit the electrical signals to the slave master of the slave robot. control board, so that the slave robot can follow the human body to make the same gestures. 2. The teleoperation follower robot control system according to claim 1, characterized in that, the control system also includes the slave main control board arranged on the torso of the slave robot, wherein the The slave main control board is wirelessly connected to the master main control board. 3. The teleoperation follower robot control system according to claim 2, characterized in that, the control system also includes joint angle executing components respectively arranged at each joint of the mechanical arm of the slave robot, each The joint angle actuators are all electrically connected to the slave main control board. 4. The teleoperation follower robot control system according to claim 1, characterized in that, the control system also includes a binocular vision acquisition module arranged on the head of the slave robot, and the binocular vision acquisition module The module includes an image acquisition sub-module capable of acquiring the current image and an emission sub-module electrically connected to the image acquisition sub-module, wherein the image acquisition sub-module transmits the current image to the emission sub-module in the form of an electrical signal module. 5. The teleoperation follower robot control system according to claim 4, characterized in that, the main-end human body posture acquisition unit also includes a binocular vision imaging module, and the binocular vision imaging module and the transmitting sub-module Wireless connections. 6. The teleoperation follower robot control system according to claim 1, characterized in that, the control system also includes an angle rotating part capable of connecting the head and the torso of the slave robot respectively, and the angle rotating part It is electrically connected with the slave main control board. 7. The teleoperation follower robot control system according to claim 2, characterized in that, at the end of the mechanical arm of the slave robot, there is an actuator capable of prompting the actuator connected to it to perform a five-degree-of-freedom movement interface, and the actuator interface is electrically connected to the slave main control board. 8 . The teleoperated robot control system according to claim 3 , wherein each of the joint angle actuators is a steering gear or a servo motor. 9. The control system of the teleoperation follower robot according to claim 1, wherein the control system further comprises a walking module capable of driving the slave robot to walk. 10. A control method using the teleoperated follower robot control system according to any one of claims 1 to 9, comprising: Acquire quaternions that can represent the action postures of each joint of the human body through each of the acquisition boards, and transmit the quaternions to the main control board at the main end; Each of the quaternions is calculated by using the human body posture calculation algorithm through the main control board of the main terminal, so as to obtain electrical signals representing the joint angles of each joint part of the human body; Transmitting electrical signals representing the joint angles of each joint of the human body to the slave main control board through the master main control board; After the slave main control board receives electrical signals representing the joint angles of the joints of the human body, it controls the corresponding parts of the slave robot to follow the human body to make the same gestures as the human body. 11. The method according to claim 10, characterized in that, each of the acquisition boards obtains information that can represent the action postures of each joint of the human body by using inertial navigation technology, and converts the information in the form of quaternions Form representation.