CN110308798A - An easy-to-wear multi-link teleoperation controller with stereo vision aid - Google Patents

Abstract

The invention discloses an easy-to-wear multi-link remote operation controller with stereo vision aid. The controller has the characteristics of reasonable overall structure and strong practicability. The main structure can be divided into four parts, namely the controller main body, tripod, foldable VR glasses and mobile phone. Except for the mobile phone, all parts can be folded, which is convenient carry. At the same time, it is also easy to wear and adjust. The operator stands or sits with his back against the controller, and puts two fingers of each hand into the ring to pull the operation. Because the stereo vision used by the operator is displayed through the mobile phone inserted into the VR glasses, the controller control information is also processed and transmitted through the mobile phone, thereby reducing the investment in high-performance hardware. The type selection of the remote execution unit can be assigned by the customer, which further enhances the versatility of the device. The controller has a multi-link mechanical structure and uses a small-sized high-precision Hall angle sensor, so it has the characteristics of high precision, no site restrictions, and small overall size.

Description

An easy-to-wear multi-link teleoperation controller with stereo vision aid

technical field

The invention relates to the technical field of remote operation control, in particular to an easy-wearable multi-link structure remote operation controller with stereo vision assistance.

Background technique

Teleoperation refers to long-distance human-computer interaction, which expands people's perception and behavior capabilities, and involves the interaction between humans and remote actuators and the environment. Teleoperation usually needs to collect the spatial position and posture of various parts of the operator's body. Especially for the movement of the upper limbs and the head, there are generally four types of equipment for capturing human movement information. The first type is the mouse, keyboard and touch screen operation of mobile terminals. Its advantages are easy to obtain and easy to learn. Its disadvantage is that there are fewer degrees of freedom that can be provided in parallel, so the devices that can be controlled in parallel are limited. The second category is contact mechanical controllers such as various remote control handles and humanoid exoskeleton posture information collectors. The remote control handle as described in the patent [CN201721119589.2] is a remote control handle with three translation degrees of freedom and three rotation degrees of freedom. Its advantages are wear-free, high precision, and can quickly enter and leave the remote control scene. Its disadvantages are There are few degrees of freedom that can be manipulated and the operator needs to have certain operating experience to effectively control. As described in the patent [CN201110107593.8], the humanoid exoskeleton posture information collector is a collection suit worn by the user, and the human body motion information is collected through the sensor motion collection module. The advantage is that the collection has as many as 16 degrees of freedom , At the same time, the acquisition accuracy is also high. The disadvantage is that the device is large in size, cumbersome to wear, and cannot quickly enter and leave the remote control scene. The third type is a motion capture system based on inertial sensing technology, such as the patent [CN201410498731.3], which uses two methods of distributed compensation mode and unified control mode to control 17 inertial sensing nodes to collect data at the same time point. The advantage is that the collection device is small in size, easy to carry, and not limited by the site environment. The disadvantage is that it is cumbersome to wear and cumbersome to debug before use. The fourth category is the human body motion capture device based on the optical system, such as the multi-camera synchronous acquisition unit described in the patent [CN201510130564.1], which is mainly used for real-time estimation and tracking of the three-dimensional human body motion posture. The scope is not restricted by the outside world, and can quickly enter and leave the remote control scene. The disadvantage is that it has special requirements for the site, especially to prevent light interference, and has high requirements for the performance of the computing unit, and the control fineness is not ideal. To sum up, it is of practical application value to study remote operation controllers that are easy to wear, low cost, easy to carry, require no space, and have high control accuracy.

From the point of view of practical application, combining the advantages and disadvantages of the above-mentioned types of teleoperation controllers, an easy-to-wear multi-link structure teleoperation controller with stereo vision assistance is invented. The overall structure of the controller is reasonably set, and the main structure can be divided into four parts, namely the controller body, tripod, foldable VR glasses and mobile phone. Except for the mobile phone, all parts can be folded for easy portability. The controller is also easy to wear and adjust. The operator stands or sits with his back against the controller, and puts two fingers of each hand into the ring for traction operation. The stereo vision used by the operator to observe is displayed on the mobile phone and the controller control information is processed and transmitted through the mobile phone, which reduces the investment in high-performance hardware and thus lowers the cost. The type selection of the remote execution unit can be assigned by the customer, which further enhances the versatility of the device. In addition, the controller is a multi-link mechanical structure and uses a small-sized high-precision Hall angle sensor, so it has the characteristics of high precision, small size, and is not limited by the site.

Contents of the invention

1. Technical problems to be solved

The technical problem solved by the invention is to overcome some defects of various remote operation controllers in the prior art, and design more practical functions after comprehensively considering the advantages and disadvantages. The defects of various types of teleoperation controllers vary depending on the classification, including: the mouse and keyboard can provide fewer degrees of freedom in parallel; Classes are cumbersome to wear and cannot quickly enter and leave the remote control scene; optics have special requirements for the venue, are susceptible to light interference, have high requirements for computing unit performance, and are not ideal for fine control. The invention provides an easy-to-wear remote operation controller with multi-link structure aided by stereo vision. The stereo vision-assisted and easy-to-wear multi-link structure remote operation controller has the characteristics of reasonable overall structure and strong practicability. The main structure can be divided into four parts, which are the controller main body, tripod, and foldable VR The glasses and the mobile phone, except the mobile phone, all parts can be folded and are easy to carry. At the same time, it is also easy to wear and adjust. The operator stands or sits with his back against the controller, and puts two fingers of each hand into the ring to pull the operation. Because the stereo vision used by the operator for observation is displayed through the mobile phone inserted into the VR glasses, and the controller control information is also processed and transmitted through the mobile phone, thereby reducing the investment in high-performance hardware and lowering the cost. The type selection of the remote execution unit can be assigned by the customer, which further enhances the versatility of the device. The controller has a multi-link mechanical structure and uses a small-sized high-precision Hall angle sensor, so it has the characteristics of high precision, no site restrictions, and small overall size.

2. Technical solution

In order to achieve the above object, the present invention provides the following technical solutions: an easy-to-wear multi-link structure teleoperation controller for stereo vision assistance, including a tripod, a controller, a mobile phone, foldable VR glasses, a processor, a binocular stereo Camera, executive mechanism (comprising relay group, executive mechanism), described controller is provided with main link, and left shoulder link and right shoulder link are respectively installed on the left and right sides of main link, and the bottom of left shoulder link is installed with The left upper arm link, the lower part of the left upper arm link is installed with the left lower arm link, the lower part of the left lower arm link is installed with the left wrist link, the lower part of the left wrist link is installed with the left palm link, and the right shoulder link is installed The bottom is equipped with a right upper arm link, the bottom of the right upper arm link is equipped with a right lower arm link, the bottom of the right lower arm link is equipped with a right wrist link, and the bottom of the right wrist link is equipped with a right palm link; The outside of the main link is equipped with a main shell, and the upper end of the tripod is installed on the back of the main shell, and the outside of the left shoulder link is equipped with a left shoulder shell, the outside of the left upper arm link is installed with a left upper arm shell, and the left lower arm is connected The rod is externally mounted with the left lower arm housing, the left wrist link and the left palm link are externally mounted with the left palm wrist housing, while the right shoulder link is externally mounted with the right shoulder housing and the right upper arm link is externally mounted with the upper right Arm shell, right lower arm shell is installed on the outside of right lower arm link, and right palm wrist shell is installed on the outside of right wrist link and right palm link.

The above-mentioned easy-to-wear multi-link structure remote operation controller assisted by stereo vision, wherein the linkage between the left lower arm link and the left wrist link is hinged by the fourth miniature flange steering wheel and the sixth miniature Hall angle sensor together, and the left wrist link and the left palm link are hinged together by the sixth miniature flange steering wheel and the fifth miniature Hall angle sensor.

The above-mentioned easy-to-wear multi-link remote operation controller with stereo vision aid, wherein, the fourth miniature Hall angle sensor and the fifth miniature flange steering wheel are installed on the left palm link, and the left palm link A left-hand two-finger sleeve is provided at the end of the head, and a rocker is installed on the left-hand two-finger sleeve.

The above-mentioned easy-to-wear multi-link remote operation controller with stereo vision aid, wherein, the first miniature Hall angle sensor and the third miniature flange steering wheel are connected between the right lower arm link and the right wrist link. Hinged together, and the right wrist connecting rod and the right palm connecting rod are hinged together through the second miniature Hall angle sensor and the first miniature flange steering wheel.

The above-mentioned easy-to-wear multi-link remote operation controller with stereo vision aid, wherein, the second miniature flange steering wheel and the third miniature Hall angle sensor are installed on the right palm link, and the right palm link The end of the right hand two-finger casing is provided with a button keyboard, and the button keyboard adopts a 3×3 matrix keyboard.

The above-mentioned easy-to-wear multi-link structure remote operation controller with stereo vision aid, wherein, between the main link and the left shoulder link, the main link and the right shoulder link are all passed through the ninth miniature flange rudder plate and The ninth miniature Hall angle sensor is hingedly connected, and the left shoulder link and the left upper arm link, the right shoulder link and the right upper arm link are hinged by the eighth miniature flange steering wheel and the eighth miniature Hall angle sensor. together, and the left upper arm link and the left lower arm link, the right upper arm link and the right lower arm link are hingedly connected by the seventh miniature flange steering wheel and the seventh miniature Hall angle sensor.

In the above-mentioned easy-to-wear multi-link remote operation controller with stereo vision aid, the tripod is connected to the back shell of the main shell by fixing bolts, and the middle riser of the tripod is telescopically arranged.

The above-mentioned easy-to-wear multi-link remote operation controller with stereo vision aid, wherein, a control board and a power module are installed in the upper end of the tripod, and the control board contains a Bluetooth serial port transparent transmission module, containing at least 14 channels The A/D converter contains at least 10 channels of switch value acquisition, and the power module includes a lithium battery pack and a charge and discharge control module.

The above-mentioned easy-to-wear multi-link structure remote operation controller assisted by stereo vision, wherein, the controller communicates with the APP on the mobile phone through Bluetooth, and the APP on the mobile phone is transmitted to the processor through network signals, and the processor drives the The actuator moves, and the binocular stereo camera provides a video stream to the processor. The processor merges the audio stream and transmits it to the APP on the mobile phone through the network signal. The APP on the mobile phone presents stereo vision and audio in time.

In the aforementioned stereo vision-assisted wearable multi-link structure teleoperation controller, wherein, the actuator is a steering unit or an electric unit.

3. Beneficial effect

In summary, the beneficial effects of the present invention are:

(1) Easy to wear and easy to adjust. The operator stands or sits with his back against the controller. It is required that the shoulders are flush with the main connecting rod, and the two fingers of the left and right hands can be inserted into the ring for operation, which is convenient for quickly entering and leaving the working state;

(2) Foldable and easy to carry. The main structure can be divided into four parts, namely the controller body, tripod, foldable VR glasses and mobile phone. Except for the mobile phone, all parts can be folded and easy to carry;

(3) Low cost and universal. Because the stereo vision is displayed through the mobile phone and the controller control information is processed and transmitted through the mobile phone, the investment in high-performance software and hardware is reduced, so the cost is low and the versatility is good. The remote execution unit The type selection can be assigned by the customer, which further enhances the versatility of the equipment;

(4) High precision, not limited by the site. The controller has a multi-link mechanical structure and uses a small-sized high-precision Hall angle sensor, so it has high precision, no site restrictions, and a small overall size.

Description of drawings

Fig. 1 is the front schematic diagram of structure of the present invention;

Fig. 2 is a schematic diagram of an exploded view of a controller of the structure of the present invention;

Fig. 3 is the left-hand structure schematic diagram of structure of the present invention;

Fig. 4 is the right-hand structure schematic diagram of structure of the present invention;

Fig. 5 is the schematic diagram of the structure of the left and right hand connecting rods of the structure of the present invention;

Fig. 6 is a schematic diagram of the mechanisms corresponding to the right and left wrists and palms of the structure of the present invention;

Fig. 7 is the schematic diagram of the shoulder and elbow articulation mode of the structure of the present invention;

Fig. 8 is a schematic diagram of an information flow description diagram of the structure of the present invention.

Symbols in the figure: 1. Main connecting rod, 2. Left shoulder connecting rod, 3. Left upper arm connecting rod, 4. Left lower arm connecting rod, 5. Left wrist connecting rod, 6. Left palm connecting rod, 7. Right palm wrist shell , 8, right lower arm shell, 9, right upper arm shell, 10, control board, 11, power supply module, 12, right shoulder shell, 13, main shell, 14, first miniature Hall angle sensor, 15, second Miniature Hall angle sensor, 16, the first miniature flange steering wheel, 17, right hand double finger sleeve, 18, button keyboard, 19, the second miniature flange steering wheel, 20, the third miniature Hall angle sensor, 21 , the third miniature flange steering wheel, 22, the fourth miniature flange steering wheel, 23, the fourth miniature Hall angle sensor, 24, the fifth miniature flange steering wheel, 25, the rocker, 26, the left hand two-finger sleeve Tube, 27, the sixth miniature flange steering wheel, 28, the fifth miniature Hall angle sensor, 29, the sixth miniature Hall angle sensor, 30, the seventh miniature flange steering wheel, 31, the seventh miniature Hall angle Sensor, 32, the eighth miniature flange steering wheel, 33, the eighth miniature Hall angle sensor, 34, the ninth miniature flange steering wheel, 35, the ninth miniature Hall angle sensor, 36, tripod, 37, right Shoulder link, 38, right upper arm link, 39, right lower arm link, 40, right wrist link, 41, right palm link, 42, left shoulder shell, 43, left upper arm shell, 44, left lower arm shell , 45, left palm wrist shell, 46, controller, 47, mobile phone, 48, foldable VR glasses, 49, processor, 50, binocular stereo camera, 51, relay group, 52, actuator.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to accompanying drawings 1 to 8, the present invention provides a technical solution: an easy-to-wear multi-link structure remote operation controller with stereo vision assistance, including a main link 1, a left shoulder link 2, an upper left Arm link 3, left lower arm link 4, left wrist link 5, left palm link 6, right palm wrist shell 7, right lower arm shell 8, right upper arm shell 9, control board 10, power module 11, right shoulder External shell 12, main shell 13, first miniature Hall angle sensor 14, second miniature Hall angle sensor 15, first miniature flange steering wheel 16, right hand two-finger casing 17, button keyboard 18, second miniature method Blue steering wheel 19, the third miniature Hall angle sensor 20, the third miniature flange steering wheel 21, the fourth miniature flange steering wheel 22, the fourth miniature Hall angle sensor 23, the fifth miniature flange steering wheel 24, Rocker 25, left-hand two-finger casing 26, sixth miniature flange steering wheel 27, fifth miniature Hall angle sensor 28, sixth miniature Hall angle sensor 29, seventh miniature flange steering wheel 30, seventh miniature Hall angle sensor 31, eighth miniature flange steering wheel 32, eighth miniature Hall angle sensor 33, ninth miniature flange steering wheel 34, ninth miniature Hall angle sensor 35, tripod 36, right shoulder connecting rod 37. Right upper arm link 38, right lower arm link 39, right wrist link 40, right palm link 41, left shoulder shell 42, left upper arm shell 43, left lower arm shell 44, left palm wrist shell 45, controller 46. Mobile phone 47, foldable VR glasses 48, processor 49, binocular stereo camera 50, relay group 51 and actuator 52, the controller 46 is provided with a main link 1, and the left and right sides of the main link 1 are respectively equipped with Left shoulder link 2 and right shoulder link 37, and left upper arm link 3 is installed on the bottom of left shoulder link 2, left lower arm link 4 is installed on the bottom of left upper arm link 3, left lower arm link 4 is installed with The left wrist link 5, the left lower arm link 4 and the left wrist link 5 are hinged together by the fourth miniature flange steering wheel 22 and the sixth miniature Hall angle sensor 29, and the bottom of the left wrist link 5 is equipped with The left palm connecting rod 6, and the left wrist connecting rod 5 and the left palm connecting rod 6 are hinged together by the sixth miniature flange steering wheel 27 and the fifth miniature Hall angle sensor 28, and the left palm connecting rod 6 is equipped with The fourth miniature Hall angle sensor 23 and the fifth miniature flange steering wheel 24, and the end of the left palm connecting rod 6 is provided with a left-hand two-finger sleeve 26, and a rocking bar 25 is installed on the left-hand two-finger sleeve 26, and The bottom of the right shoulder link 37 is equipped with a right upper arm link 38, the bottom of the right upper arm link 38 is equipped with a right lower arm link 39, and the bottom of the right lower arm link 39 is equipped with a right wrist link 40. The bottom of bar 40 is equipped with right palm connecting rod 41, and main casing 13 is installed on the outside of main connecting rod 1, is connected by fixing bolt between tripod 36 and main casing 13 back casings, and the middle riser of tripod 36 is telescopic set, and the upper end of the tripod 36 is installed on the back of the main casing 13, and the upper end of the tripod 36 is installed with the control board 10 and the power module 11 , and the control board 10 contains a Bluetooth serial port transparent transmission module, contains at least 14 channels of A/D converters, contains at least 10 channels of switch value acquisition, and the power module 11 includes a lithium battery pack and a charge and discharge control module, and the left shoulder link 2 is equipped with a left shoulder shell 42, the left upper arm link 3 is equipped with a left upper arm shell 43, the left lower arm link 4 is equipped with a left lower arm shell 44, the left wrist link 5 and the left palm link 6 The outside is equipped with a left palm wrist shell 45, while the outside of the right shoulder link 37 is equipped with a right shoulder shell 12, the outside of the right upper arm link 38 is equipped with a right upper arm shell 9, and the outside of the right lower arm link 39 is installed with a right shoulder shell. Lower arm housing 8, right wrist connecting rod 40 and the outside of right palm connecting rod 41 are equipped with right palm wrist housing 7, between right lower arm connecting rod 39 and right wrist connecting rod 40 pass first miniature Hall angle sensor 14 and The third miniature flange steering wheel 21 is hinged together, and the second miniature Hall angle sensor 15 and the first miniature flange steering wheel 16 are hinged together between the right wrist connecting rod 40 and the right palm connecting rod 41. The second miniature flange steering wheel 19 and the third miniature Hall angle sensor 20 are installed on the palm connecting rod 41, and the end of the right palm connecting rod 41 is provided with the right hand two-finger sleeve 17, and the right hand two-finger sleeve 17 The button keyboard 18 is installed on the top, and the button keyboard 18 adopts a 3×3 matrix keyboard, the main link 1 and the left shoulder link 2, the main link 1 and the right shoulder link 37 are all passed through the ninth miniature flange rudder Disc 34 and the ninth miniature Hall angle sensor 35 are hingedly connected, and between left shoulder link 2 and left upper arm link 3, right shoulder link 37 and right upper arm link 38, all pass through the eighth miniature flange rudder disc 32 and The eighth miniature Hall angle sensor 33 is hinged together, and between the left upper arm connecting rod 3 and the left lower arm connecting rod 4, the right upper arm connecting rod 38 and the right lower arm connecting rod 39, the seventh miniature flange steering wheel 30 and the The seventh miniature Hall angle sensor 31 is hingedly connected, the controller 46 communicates with the APP on the mobile phone 47 through Bluetooth, and the APP on the mobile phone 47 is transmitted to the processor 49 through a network signal, and the processor 49 drives the relay group 51 and the actuator after analysis 52 action, and the binocular stereo camera 50 provides the video stream to the processor 49, and the processor 49 merges the audio stream and sends it to the APP on the mobile phone 47 through the network signal, and the APP on the mobile phone 47 presents stereoscopic vision and audio in time.

As shown in Figure 8, the figure shows the overall structure and local structure settings of this setting. The controller 46 is mainly composed of 11 connecting rods, and the connecting rods are hinged by Hall angle sensors and flanges. A total of 12 sets of angles Sensor and flange, one of the two ends of the left palm link 6 and the right palm link 41 is provided with a remote lever and a button, the other end is provided with a 3×3 matrix keyboard, and both ends are provided with ring devices, which need to be simultaneously Using index finger and middle finger traction control, the controller 46 collects the status of sensors and buttons in real time and sends them to the user's mobile phone APP through Bluetooth communication. The lower part of the controller 46 is a foldable tripod 36;

The controller 46 adopts 12 angle sensors, a joystick and 10 buttons, so it can provide at least 14 degrees of freedom parallel output and 10 switch output at the same time in remote operation, and there will be more freedom if combined use Degree and switch output;

The main body of the controller 46 has a compact structure, adopts a miniature Hall angle sensor and a miniature flange hinge, the overall size is small, the weight is light, and because the tripod is detachable and easy to fold, it can be stored in a full set and is easy to carry;

The Hall angle sensor used by the controller 46 has the characteristics of small size, high linear precision, aluminum alloy shell, stainless steel shaft and bearing, and a mechanical life of more than 80 million revolutions. Therefore, this structural design can simultaneously meet the requirements of function, size, strength and precision. Require;

The top structure of the tripod 36 is connected with the back shell of the controller 46 by bolts, and the middle riser of the tripod 36 can be stretched to adapt to operators of different heights. The operator only needs to put the two fingers of the left and right hands on the back of the equipment into the ring. Drive the multi-link follower, this design is free from tedious wearing, easy to debug, and convenient for the operator to quickly enter and exit the working state;

The controller 46 is powered by a lithium battery pack, transmits the collected data to the user's mobile APP through the Bluetooth module on the control board 10, and forwards the valid data through WIFI or 4/5G after processing the information. The controller does not need other external equipment support , no restrictions on the working site, very suitable for outdoor operation;

Preferably, the actuator 52 is a steering unit or an electric motor unit.

Working principle: When using the easy-wearable multi-link structure teleoperation controller assisted by stereo vision, the operator stands or sits with his back against the controller 46 , requires the shoulder to be flush with the main link 1, and turns on the mobile phone 47 Bluetooth, 5G/WIFI/4G, and then open the APP, the mobile phone 47 will display the real-time video of the remote left and right three-dimensional format, at this time, insert the mobile phone into the foldable VR glasses 48, after wearing the glasses, free your left and right hands to reach into the controller respectively 46 on the left-hand two-finger sleeve 26 and the right-hand two-finger sleeve 17, so far, all the preparatory work has been completed, and then the remote relay group is controlled by pulling multiple sets of connecting rods on the left and right arms, the rocking bar 25 and the button keyboard 18 51 and the actuator 52, during use, the controller information flow includes two types of control flow and multimedia flow, the control flow is initiated by the controller 46, communicates with the mobile phone APP through Bluetooth, and the APP is processed and transmitted through the 5G/WIFI/4G network To the far-end processor 49, after the processor 49 resolves, it drives the relay group 51 and the actuator 52 to act, the direction of the multimedia flow is opposite, and the binocular stereo camera 50 at the far end provides the video stream to the processor 49, and passes through The 5G/WIFI/4G network signal is transmitted to the mobile APP, and the mobile APP presents stereoscopic vision and audio information in time.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (10)

1. An easy-wearable multi-link structure teleoperation controller for stereo vision assistance, comprising a tripod (36), a controller (46), a mobile phone (47), foldable VR glasses (48), a processor (49 ), binocular stereo camera (50), relay group (51) and executive structure (52), it is characterized in that: described controller (46) is provided with main link (1), the left and right sides of main link (1) Both sides are equipped with left shoulder link (2) and right shoulder link (37) respectively, and the bottom of left shoulder link (2) is equipped with left upper arm link (3), and the bottom of left upper arm link (3) is installed with The left lower arm link (4), the left wrist link (5) is installed on the lower part of the left lower arm link (4), the left palm link (6) is installed on the lower part of the left wrist link (5), and the right shoulder link The bottom of bar (37) is equipped with right upper arm connecting rod (38), the bottom of right upper arm connecting rod (38) is equipped with right lower arm connecting rod (39), and the bottom of right lower arm connecting rod (39) is equipped with right wrist Connecting rod (40), the bottom of right wrist connecting rod (40) is equipped with right palm connecting rod (41); The outside of described main connecting rod (1) is equipped with main housing (13), and the tripod (36) The upper end is installed on the back of the main shell (13), and the outside of the left shoulder link (2) is equipped with a left shoulder shell (42), the outside of the left upper arm link (3) is equipped with a left upper arm shell (43), and the left lower arm link The outside of bar (4) is equipped with left lower arm housing (44), and the outside of left wrist connecting rod (5) and left palm connecting rod (6) is equipped with left palm wrist housing (45), while right shoulder connecting rod (37) A right shoulder shell (12) is installed on the outside of the right upper arm link (38), a right upper arm shell (9) is installed on the outside of the right lower arm link (39), and a right lower arm shell (8) is installed on the outside of the right lower arm link (39), The outside of right wrist connecting rod (40) and right palm connecting rod (41) is equipped with right palm wrist housing (7). 2. An easy-to-wear multi-link teleoperation controller with stereoscopic vision aid according to claim 1, characterized in that: between the left lower arm link (4) and the left wrist link (5) Through the fourth miniature flange steering wheel (22) and the sixth miniature Hall angle sensor (29) are hinged together, and between the left wrist connecting rod (5) and the left palm connecting rod (6) through the sixth miniature flange The steering wheel (27) and the fifth miniature Hall angle sensor (28) are hinged together. 3. The easy-to-wear multi-link teleoperation controller with stereo vision aid according to claim 1, characterized in that: the fourth miniature Hall angle sensor is installed on the left palm link (6) (23) and the fifth miniature flange steering wheel (24), and the end of the left palm connecting rod (6) is provided with the left-hand two-finger sleeve sleeve (26), and the left-hand two-finger sleeve sleeve (26) is equipped with a rocking bar (25). 4. An easy-to-wear multi-link teleoperation controller with stereo vision aid according to claim 1, characterized in that: the link between the right lower arm link (39) and the right wrist link (40) between the first miniature Hall angle sensor (14) and the third miniature flange steering wheel (21), and between the right wrist link (40) and the right palm link (41) through the second miniature Hall Earl angle sensor (15) and the first miniature flange steering wheel (16) are hinged together. 5. The easy-to-wear multi-link structure teleoperation controller of a kind of stereo vision aid according to claim 1, characterized in that: the second miniature flange steering wheel is installed on the right palm link (41) (19) and the third miniature Hall angle sensor (20), and the end of the right palm connecting rod (41) is provided with the right hand two-finger sleeve (17), and the button is installed on the right hand two-finger sleeve (17) Keyboard (18), what button keyboard (18) adopted simultaneously is 3 * 3 matrix keyboards. 6. An easy-to-wear multi-link teleoperation controller with stereo vision aid according to claim 1, characterized in that: the main link (1) and the left shoulder link (2), the main link (1) is hingedly connected with the right shoulder connecting rod (37) through the ninth miniature flange steering wheel (34) and the ninth miniature Hall angle sensor (35), and the left shoulder connecting rod (2) is connected with the left upper arm Bar (3), right shoulder connecting rod (37) and right upper arm connecting rod (38) are all hinged together by the eighth miniature flange steering wheel (32) and the eighth miniature Hall angle sensor (33), and Between the left upper arm connecting rod (3) and the left lower arm connecting rod (4), the right upper arm connecting rod (38) and the right lower arm connecting rod (39) all pass through the seventh miniature flange rudder plate (30) and the seventh miniature The Hall angle sensor (31) is hingedly connected. 7. An easy-to-wear multi-link teleoperation controller with stereoscopic vision aid according to claim 1, characterized in that: said tripod (36) and the back shell of the main shell (13) are fixed Bolt connection, and the middle riser of tripod (36) is telescopically arranged. 8. An easy-to-wear multi-link remote operation controller with stereo vision aid according to claim 1, characterized in that: a control panel (10) and a power supply are installed in the upper end of the tripod (36) module (11), and the control board (10) contains a bluetooth serial port transparent transmission module, contains at least 14 A/D converters, contains at least 10 switching value acquisitions, and the power module (11) includes a lithium battery pack and a charger. Discharge control module. 9. An easy-wearable multi-link teleoperation controller with stereo vision aid according to claim 1, characterized in that: the controller (46) communicates with the APP on the mobile phone (47) via bluetooth, The APP on the mobile phone (47) is transmitted to the processor (49) through the network signal, and the processor (49) drives the relay group (51) and the execution structure (52) after analysis, and the binocular stereo camera (50) provides the video stream To the processor (49), the processor (49) merges the audio stream and transmits it to the APP on the mobile phone (47) through the network signal, and the APP on the mobile phone (47) presents stereoscopic vision and audio in time. 10. An easy-to-wear multi-link teleoperation controller with stereo vision aid according to claim 1, characterized in that: the actuator (52) is a steering unit or an electric unit.